Mowing path generation method and related apparatus

Abstract

Provided are a mowing path generation method and a related apparatus. The mowing path generation method comprises: acquiring a mowing map and machine data; on the basis of the mowing map, determining a plurality of obstacle regions (51, 52, 53, 54); on the basis of the plurality of obstacle regions (51, 52, 53, 54) and the machine data, determining at least one concentric pattern, wherein each concentric pattern of the at least one concentric pattern surrounds at least one corresponding obstacle region; and on the basis of the at least one concentric pattern, determining a target mowing path. At least one concentric pattern is determined on the basis of the plurality of obstacle regions (51, 52, 53, 54) and machine data of an automatic mower (110), each concentric pattern surrounds at least one corresponding obstacle region, and the target mowing path is then determined on the basis of the at least one concentric pattern, such that the automatic mower (110) creates a concentric pattern around a landscape feature on a lawn according to the target mowing path, so as to beautify the lawn around the landscape feature, reduce the visual abruptness of the landscape feature on the lawn and improve the overall presentation effect of the pattern on the lawn, thereby improving the user experience.

Description

A method and related apparatus for generating mowing paths

[0001] This application claims priority to the following Chinese patent applications filed on May 28, 2024: Chinese Patent Application No. 202410671263.9, entitled "A Method and Apparatus for Generating Lawn Mowing Paths"; Chinese Patent Application No. 202410671267.7, entitled "A Control Method for a Lawn Mowing Robot, a Lawn Mowing Robot, and a Lawn Operation System"; Chinese Patent Application No. 202410671259.2, entitled "A Method and Apparatus for Generating Lawn Patterns Based on Obstacles"; the entire contents of which are incorporated herein by reference; and Chinese Patent Application No. 202410671261.X, entitled "A Method and Apparatus for Generating Paths". Technical Field

[0002] This application belongs to the field of automatic lawnmower control, specifically relating to a method for generating a mowing path and related devices. Background Technology

[0003] Currently, automatic lawnmowers can autonomously complete lawn mowing tasks, significantly reducing the workload of lawn trimming. At the same time, users also want to use automatic lawnmowers to create decorative patterns on their lawns, making the overall lawn more aesthetically pleasing. However, lawns often have landscaping elements such as artificial rocks, fountains, trees, shrubs, and flowerbeds, which can obstruct the movement of automatic lawnmowers. Existing technologies typically design driving paths to avoid these obstacles. However, this approach results in the surrounding lawn not being properly beautified, making the landscaping appear jarring on the lawn, leading to a poor overall presentation of the patterns and a less than ideal user experience.

[0004] Therefore, how to meet users' needs for beautifying the lawns around their landscapes, improve the overall presentation of patterns on the lawns, and thus enhance the user experience has become a technical problem that needs to be solved. Summary of the Invention

[0005] This application provides a method and related apparatus for generating lawn mowing paths to solve the problem that the lawn around a landscape cannot be beautified, making the landscape appear abrupt on the lawn and resulting in a poor overall presentation effect of the patterns on the lawn and a poor user experience. This satisfies the user's need to beautify the lawn around the landscape, improves the overall presentation effect of the patterns on the lawn, and thus enhances the user experience.

[0006] In a first aspect, embodiments of this application provide a method for generating a lawn mowing path. The method includes: acquiring a lawn mowing map and machine data, wherein the lawn mowing map is used to indicate spatial information of a target lawn area, and the machine data is used to characterize configuration parameters of an automatic lawn mower; determining multiple obstacle areas based on the lawn mowing map, wherein a single obstacle area is an area in the target lawn area where the automatic lawn mower is prohibited from passing; determining at least one concentric pattern based on the multiple obstacle areas and the machine data, wherein each concentric pattern surrounds a corresponding at least one obstacle area; and determining a target lawn mowing path based on the at least one concentric pattern.

[0007] Secondly, embodiments of this application provide a lawn mowing path generation device, the device comprising: a first receiving unit, configured to acquire a lawn mowing map and machine data, the lawn mowing map indicating spatial information of a target lawn area, and the machine data characterizing configuration parameters of an automatic lawn mower; a first processing unit, configured to determine multiple obstacle areas based on the lawn mowing map, each obstacle area being an area in the target lawn area where the automatic lawn mower is prohibited from passing; determine at least one concentric pattern based on the multiple obstacle areas and the machine data, each concentric pattern surrounding a corresponding at least one obstacle area; and determine a target lawn mowing path based on the at least one concentric pattern.

[0008] Thirdly, embodiments of this application provide an electronic device, including a processing device, a storage device, and one or more programs, the one or more programs being stored in the storage device and configured to be executed by the processing device, the programs including instructions for performing the steps in the first aspect of embodiments of this application.

[0009] Fourthly, embodiments of this application provide an automatic lawnmower, comprising: a control module for executing the method described in any of the preceding claims; a drive module for responding to a drive signal from the control module to adjust the travel speed and travel direction of the automatic lawnmower; and an operation module including a mowing module or a pressing module, wherein the mowing module is used to adjust the height and rotation speed of the cutting disc, and the pressing module is used to form indentations.

[0010] Fifthly, according to an embodiment of this application, an automatic lawnmower includes a processor and a memory, wherein the memory stores a computer program, and when the processor invokes the computer program in the memory, it executes the method described in the first aspect of the embodiment of this application.

[0011] Sixthly, embodiments of this application provide an automatic lawn mowing system, including a server and an automatic lawn mower as described above, wherein the server is used to perform the method described in the first aspect of embodiments of this application.

[0012] In a seventh aspect, embodiments of this application provide a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps in the first aspect of embodiments of this application.

[0013] Eighthly, 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.

[0014] As can be seen, in this embodiment, a lawn mowing map and machine data are obtained. The lawn mowing map is used to indicate the spatial information of the target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawn mower. Multiple obstacle areas are determined based on the lawn mowing map, with each obstacle area being a region in the target lawn area where the automatic lawn mower is prohibited from passing. At least one concentric pattern is determined based on the multiple obstacle areas and the machine data, with each concentric pattern surrounding a corresponding obstacle area. A target mowing path is determined based on the at least one concentric pattern. This application determines at least one concentric pattern based on multiple obstacle areas and the machine data of the automatic lawn mower, with each concentric pattern surrounding a corresponding obstacle area. Then, a target mowing path is determined based on the at least one concentric pattern, causing the automatic lawn mower to follow the target mowing path and present a concentric pattern on the lawn, thereby beautifying the lawn around the landscape, reducing the abruptness of the landscape on the lawn, improving the overall presentation effect of the pattern on the lawn, and thus enhancing the user experience. Attached Figure Description

[0015] 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.

[0016] Figure 1a is a schematic diagram of an automatic lawn mowing system provided in an embodiment of this application;

[0017] Figure 1b is a schematic diagram of another automatic lawn mowing system provided in an embodiment of this application;

[0018] Figure 2 is a schematic diagram of the structure of an electronic device in an automatic lawn mowing system provided in an embodiment of this application;

[0019] Figure 3 is a flowchart illustrating a method for generating a mowing path according to an embodiment of this application;

[0020] Figure 4 is a schematic diagram of a scenario for a grass mowing path generation method provided in an embodiment of this application;

[0021] Figure 5 is a schematic diagram of another lawn mowing path generation method provided in an embodiment of this application;

[0022] Figure 6 is a schematic diagram of another method for generating mowing paths provided in an embodiment of this application;

[0023] Figure 7 is a schematic diagram of another lawn mowing path generation method provided in an embodiment of this application;

[0024] Figure 8 is a schematic diagram of another method for generating mowing paths provided in an embodiment of this application.

[0025] Figure 9 is a structural block diagram of another automatic lawn mowing system provided in an embodiment of this application;

[0026] Figure 10 is a flowchart illustrating another method for generating mowing paths provided in an embodiment of this application;

[0027] Figure 11 is a schematic diagram of a scenario for determining target interval distance provided in an embodiment of this application;

[0028] Figure 12 is a scene diagram of a lawn pattern type provided in an embodiment of this application;

[0029] Figure 13 is a schematic diagram of a scenario for a reference path length provided in an embodiment of this application;

[0030] Figure 14 is a structural schematic diagram of an automatic lawn mowing system provided in an embodiment of this application;

[0031] Figure 15 is a flowchart illustrating another method for generating mowing paths provided in an embodiment of this application;

[0032] Figure 16 is a schematic diagram of a concentric pattern provided in an embodiment of this application;

[0033] Figure 17 is a schematic diagram of the structure of a concentric pattern boundary point provided in an embodiment of this application;

[0034] Figure 18 is a structural schematic diagram of a first concentric pattern provided in an embodiment of this application;

[0035] Figure 19 is a schematic diagram of another first concentric pattern provided in an embodiment of this application;

[0036] Figure 20 is a schematic diagram of the structure of the yth concentric pattern provided in the embodiment of this application;

[0037] Figure 21 is a schematic diagram of a target path provided in an embodiment of this application;

[0038] Figure 22 is a schematic diagram of a lawn mowing scene in the prior art provided in the embodiments of this application;

[0039] Figure 23a is a schematic diagram of the structure of a lawnmower robot provided in an embodiment of this application;

[0040] Figure 23b is a schematic diagram of the control module provided in an embodiment of this application;

[0041] Figure 24 is a flowchart illustrating a control method for a lawnmower robot provided in an embodiment of this application;

[0042] Figures 25a-25b are schematic diagrams of preset patterns provided in the embodiments of this application;

[0043] Figures 26a-26b are schematic diagrams of the radial movement of the lawnmower robot provided in the embodiments of this application;

[0044] Figure 27 is a flowchart illustrating the method for generating lawn patterns according to an embodiment of this application;

[0045] Figures 28a-28c are schematic diagrams of the pattern setting interface provided in the embodiments of this application;

[0046] Figure 29 is a schematic diagram of the operation parameter setting interface provided in an embodiment of this application;

[0047] Figure 30 is a functional unit block diagram of a lawn mowing path generation device provided in an embodiment of this application;

[0048] Figure 31 is a functional unit block diagram of another lawn mowing path generation device provided in an embodiment of this application;

[0049] Figure 32 is a functional unit block diagram of another lawn mowing path generation device provided in an embodiment of this application;

[0050] Figure 33 is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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.

[0054] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0055] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0056] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0057] In the embodiments of this application, "equal to" can be used with "greater than" and is applicable to technical solutions used when "greater than" is used; it can also be used with "less than" and is applicable to technical solutions used when "less than" is used. When "equal to" is used with "greater than", it is not used with "less than"; when "equal to" is used with "less than", it is not used with "greater than".

[0058] To better understand the solutions of the embodiments of this application, the electronic devices, related concepts and background that may be involved in the embodiments of this application will be introduced below.

[0059] Automatic lawnmower: An intelligent mobile robot designed specifically for lawn mowing and maintenance, featuring multiple functions such as autonomous driving, intelligent obstacle avoidance, electronic virtual fence, automatic charging, and network control support.

[0060] Currently, existing technologies typically design driving paths to avoid obstacles, allowing automatic lawnmowers to steer around them. However, because they directly avoid the landscape, they fail to beautify the surrounding lawn, making the landscape appear jarring on the lawn and resulting in a poor overall presentation of the lawn pattern, leading to a subpar user experience.

[0061] To address the aforementioned issues, this application provides a method and related apparatus for generating lawn mowing paths. The method determines at least one concentric pattern based on multiple obstacle areas and machine data from an automatic lawnmower. Each concentric pattern surrounds a corresponding obstacle area. A target mowing path is then determined based on the at least one concentric pattern, causing the automatic lawnmower to follow the target path and create concentric patterns on the lawn. This beautifies the lawn surrounding the landscape, reduces the abruptness of the landscape on the lawn, and enhances the overall presentation of the patterns on the lawn, thereby improving the user experience.

[0062] Please refer to Figure 1a, which is a schematic diagram of an automatic lawn mowing system provided in an embodiment of this application. As shown in Figure 1a, the automatic lawn mowing system 100 includes an automatic lawnmower 110, a server 120, and electronic devices 130. The automatic lawnmower 110 is communicatively connected to the server 120, the server 120 is communicatively connected to the electronic devices 130, and the automatic lawnmower 110 is also communicatively connected to the electronic devices 130. The automatic lawnmower 110 can be a single automatic lawnmower or a group of several automatic lawnmowers. The server 120 can be a single server, a server cluster consisting of several servers, or a cloud computing service center, etc. The electronic devices 130 can be mobile terminals, tablet computers, or laptop computers, etc.

[0063] The automatic lawnmower 110 is used to receive a target mowing path sent by the electronic device 130; and to mow the lawn according to the target mowing path.

[0064] In the daily use of the automatic lawn mowing system 100, the electronic device 130 acquires a mowing map and machine data. The mowing map is used to indicate the spatial information of the target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawn mower. Multiple obstacle areas are determined based on the mowing map, and each obstacle area is an area in the target lawn area where the automatic lawn mower is prohibited from passing. At least one concentric pattern is determined based on the multiple obstacle areas and the machine data, and each concentric pattern surrounds the corresponding at least one obstacle area. The target mowing path is determined based on the at least one concentric pattern.

[0065] Please refer to Figure 1b, which is a schematic diagram of another automatic lawn mowing system provided in an embodiment of this application. As shown in Figure 1b, the automatic lawn mowing system 100 includes an automatic lawnmower 110 and a server 120, wherein the automatic lawnmower 110 includes an electronic device 130. The automatic lawnmower 110 is communicatively connected to the server 120 through the electronic device 130. In some embodiments, the electronic device 130 may include a controller for the automatic lawnmower 110.

[0066] Please refer to Figure 2, which is a schematic diagram of the structure of an electronic device in an automatic lawn mowing system provided in an embodiment of this application. As shown in Figure 2, the electronic device 130 includes a processor 210 and a memory 220, with the processor 210 and memory 220 communicatively connected. The memory 220 stores one or more programs, which are configured to be executed by the processor 210. The functions of these programs are: acquiring a lawn mowing map and machine data; the lawn mowing map indicating the spatial information of the target lawn area, and the machine data characterizing the configuration parameters of the automatic lawn mower; determining multiple obstacle areas based on the lawn mowing map, where each obstacle area is a prohibited area for the automatic lawn mower in the target lawn area; determining at least one concentric pattern based on the multiple obstacle areas and machine data, where each concentric pattern surrounds a corresponding obstacle area; and determining a target mowing path based on the at least one concentric pattern.

[0067] Please refer to Figure 3, which is a flowchart illustrating a lawn mowing path generation method provided in this embodiment of the application. This method is applied to the electronic device 130 in the automatic lawn mowing system 100 shown in Figure 1a. The automatic lawn mowing system 100 includes an automatic lawnmower 110, a server 120, and the electronic device 130. The automatic lawnmower 110 is communicatively connected to the server 120, and the server 120 is communicatively connected to the electronic device 130. The automatic lawnmower 110 can be a single automatic lawnmower or a group of several automatic lawnmowers. The server 120 can be a single server, a server cluster consisting of several servers, or a cloud computing service center, etc. The electronic device 130 can be a mobile terminal, a tablet computer, or a laptop computer, etc. As shown in Figure 3, the method includes the following steps:

[0068] Step S101: Obtain the lawn mowing map and machine data.

[0069] The lawn map is used to indicate the spatial information of the target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawn mower.

[0070] The lawn map can be the spatial information of the lawn collected when the automatic lawnmower first works on the target lawn area. A virtual electronic map is generated based on the spatial information, which is the lawn map. During the mowing process on the target lawn area, the automatic lawnmower continuously matches its current position with the coordinates of the virtual electronic map to identify its current environment.

[0071] The configuration parameters of the automatic lawnmower include machine height, machine width, machine length, cutting width, minimum turning radius, etc.

[0072] Please refer to Figure 4, which is a schematic diagram of a lawn mowing path generation method provided in an embodiment of this application. As shown in the figure, when the electronic device detects a user's activation operation, it displays a first interface 400, which includes a first area 410 and a second area 420. The first area 410 is used to display multiple candidate lawn mowing maps 411 and obtain the user's selection operation on the candidate lawn mowing maps. The second area 420 is used to display multiple candidate automatic lawnmowers 421 and obtain the user's selection operation on the candidate automatic lawnmowers. The multiple candidate lawn mowing maps 411 are lawn mowing maps pre-stored in the electronic device, and the multiple candidate automatic lawnmowers 421 are automatic lawnmowers that have established a communication connection with the electronic device in advance.

[0073] In one possible embodiment, the first area 410 further includes a first button 412, which is used to retrieve a new lawn mowing map from the database. After the user clicks the first button 412 to import the new lawn mowing map, the new lawn mowing map is added to the plurality of candidate lawn mowing maps 411 and displayed in the first area 410.

[0074] In one possible embodiment, the second area 420 further includes a second button 422 for establishing a communication connection with a new automatic lawnmower. After the user clicks the second button 422 to establish a communication connection between the electronic device and the new automatic lawnmower, the new automatic lawnmower is added to the plurality of candidate automatic lawnmowers 421 and displayed in the second area 420.

[0075] The electronic device determines the mowing map based on the plurality of candidate mowing maps and the mowing map selection operation. The electronic device also determines the automatic lawnmower based on the plurality of candidate automatic lawnmowers and the automatic lawnmower selection operation.

[0076] Step S102: Determine multiple obstacle areas based on the mowing map.

[0077] Here, a single obstacle area can represent an area in the target lawn area where the automatic lawnmower is prohibited from passing.

[0078] In one possible embodiment, determining multiple obstacle areas based on the mowing map may include: determining the spatial information of the target lawn area based on the mowing map; and determining areas where the automatic lawnmower is prohibited from passing based on the spatial information, thereby obtaining multiple obstacle areas.

[0079] The single obstacle area can represent an area on the target lawn area that does not require the automatic lawnmower to mow, such as: a designated no-mowing area, artificial rocks, fountains, trees, shrubs, and flower beds.

[0080] Step S103: Determine at least one concentric pattern based on the plurality of obstacle areas and the machine data.

[0081] In this context, each of the at least one concentric pattern surrounds at least one corresponding obstacle region.

[0082] The plurality of obstacle regions are mapped to the at least one concentric pattern, with each obstacle region having a corresponding concentric pattern and each concentric pattern corresponding to at least one obstacle region.

[0083] In one possible embodiment, determining at least one concentric pattern based on the plurality of obstacle areas and the machine data includes: determining at least one target obstacle area based on the plurality of obstacle areas and the machine data, wherein the area between any two target obstacle areas in the at least one target obstacle area allows the automatic lawnmower to pass; and determining at least one concentric pattern based on the at least one target obstacle area.

[0084] The automatic lawnmower is capable of navigating the target lawn area except for the at least one target obstacle area, but is not capable of navigating the at least one target obstacle area.

[0085] The at least one concentric pattern corresponds one-to-one with the at least one target obstacle region, and each concentric pattern surrounds the corresponding target obstacle region.

[0086] As can be seen, in this embodiment, based on multiple obstacle areas on the target lawn area and the machine data of the automatic lawnmower, at least one target obstacle area that the automatic lawnmower cannot pass through is determined. Then, at least one concentric pattern is determined around the corresponding target obstacle area. The target mowing path is then determined based on the at least one concentric pattern, so that the automatic lawnmower presents a concentric pattern on the lawn around the landscape according to the target mowing path. This beautifies the lawn around the landscape, reduces the abruptness of the landscape on the lawn, improves the overall presentation effect of the pattern on the lawn, and thus enhances the user experience.

[0087] In one possible embodiment, determining at least one target obstacle region based on the plurality of obstacle regions and the machine data includes: determining at least one spacing data corresponding to each obstacle region among the plurality of obstacle regions, the at least one spacing data being used to characterize the distance between the corresponding obstacle region and at least one adjacent obstacle region; determining at least one target obstacle region based on the at least one spacing data corresponding to each obstacle region and the machine data, wherein each target obstacle region among the at least one target obstacle region is an independent obstacle region or a merged obstacle region.

[0088] In one possible embodiment, determining at least one spacing data corresponding to each of the plurality of obstacle regions may be determined based on the spatial information of the target lawn area indicated by the mowing map. A single spacing data point is the shortest distance between the boundary of the corresponding obstacle region and the boundary of an adjacent obstacle region.

[0089] In one possible embodiment, please refer to Figure 5, which is a schematic diagram of another lawn mowing path generation method provided in this application embodiment. As shown in Figure 5, multiple obstacle regions include obstacle region 51, obstacle region 52, obstacle region 53, and obstacle region 54. The at least one spacing data corresponding to obstacle region 51 includes: spacing data 1, spacing data 2, and spacing data 3; the at least one spacing data corresponding to obstacle region 52 includes: spacing data 1 and spacing data 4; the at least one spacing data corresponding to obstacle region 53 includes: spacing data 2 and spacing data 5; and the at least one spacing data corresponding to obstacle region 54 includes: spacing data 3, spacing data 4, and spacing data 5.

[0090] The independent obstacle area is a single obstacle area, and the automatic lawnmower is capable of passing between the independent obstacle area and the obstacle area closest to the independent obstacle area.

[0091] The merged obstacle area is a collection of multiple obstacle areas, and the automatic lawnmower cannot pass between any two obstacle areas in the merged obstacle area.

[0092] As can be seen in this example, at least one target obstacle area is determined based on at least one spacing distance corresponding to each obstacle area in multiple obstacle areas and the machine data of the automatic lawnmower. Then, at least one concentric pattern is determined around the corresponding target obstacle area. The target mowing path is then determined based on the at least one concentric pattern, so that the automatic lawnmower presents a concentric pattern on the lawn around the landscape according to the target mowing path. This beautifies the lawn around the landscape, reduces the abruptness of the landscape on the lawn, improves the overall presentation effect of the pattern on the lawn, and thus enhances the user experience.

[0093] In one possible embodiment, the machine data includes the machine width. Determining at least one target obstacle region based on the at least one spacing data corresponding to each obstacle region and the machine data includes: performing the following processing operations on each obstacle region: determining whether target spacing data exists in the at least one spacing data corresponding to the currently processed obstacle region, where the target spacing data is a spacing data smaller than the machine width among the at least one spacing data; if it is determined that target spacing data does not exist in the at least one spacing data corresponding to the currently processed obstacle region, then the currently processed obstacle region is determined as the independent obstacle region; if it is determined that target spacing data exists in the at least one spacing data corresponding to the currently processed obstacle region, then the merged obstacle region is determined based on the set of the currently processed obstacle region and the obstacle regions corresponding to the target spacing data; repeating the above operations until all the multiple obstacle regions are processed to obtain the at least one target obstacle region.

[0094] The machine width refers to the body width of the automatic lawnmower.

[0095] The independent obstacle region is an obstacle region among the multiple obstacle regions whose interval data with the nearest obstacle region is greater than the width of the machine.

[0096] Wherein, the interval between each obstacle region and its nearest obstacle region in the merged obstacle region is less than the machine width. In one possible embodiment, determining the merged obstacle region based on the set of obstacle regions corresponding to the currently processed obstacle region and the target distance data includes: determining the currently processed obstacle region and the obstacle region corresponding to the target distance data as the merged obstacle region; and determining the set of merged obstacle regions as the merged obstacle region.

[0097] In one possible embodiment, after all the multiple obstacle regions have been processed and the at least one target obstacle region is obtained, the method further includes: deleting the target obstacle regions in the at least one target obstacle region that are contained by other target obstacle regions, to obtain the updated at least one target obstacle region.

[0098] Please refer to Figure 6, which is a schematic diagram of another lawn mowing path generation method provided in this application embodiment. As shown in Figure 6, if the machine width is d, spacing data 1 is less than d, spacing data 2 is less than d, spacing data 3 is greater than d, interval data 4 is greater than d, and interval data 5 is greater than d, when the currently processed obstacle region is 51, among the at least one spacing data corresponding to obstacle region 51, spacing data 1 and spacing data 2 are the target spacing data. The obstacle region corresponding to spacing data 1 is obstacle region 52, and the obstacle region corresponding to spacing data 2 is obstacle region 53. Then, obstacle regions 51, 52, and 53 are merged obstacle regions, and the set of obstacle regions 51, 52, and 53 is the merged obstacle region, i.e., the target obstacle region 61. When the currently processed obstacle region is updated to obstacle region 52, it is detected that among the at least one spacing data corresponding to obstacle region 52, spacing data 1 is the target spacing data, and the obstacle region corresponding to spacing data 1 is obstacle region 51. Therefore, obstacle regions 51 and 52 are merged obstacle regions, and the set of obstacle regions 51 and 52 is the merged obstacle region, i.e., target obstacle region 62. Based on this, after all multiple obstacle regions have been processed, the at least one target obstacle region obtained includes target obstacle region 61, target obstacle region 62, target obstacle region 63, and target obstacle region 64. Since target obstacle region 62 is contained within target obstacle region 61, and target obstacle region 63 is contained within merged target obstacle region 61, the final at least one target obstacle region obtained includes target obstacle region 61 and target obstacle region 64.

[0099] As can be seen in this example, based on at least one spacing data corresponding to each obstacle area and the machine width of the automatic lawnmower, independent obstacle areas and merged obstacle areas are determined to obtain at least one target obstacle area. Then, at least one concentric pattern is determined around the corresponding target obstacle area. Based on the at least one concentric pattern, a target mowing path is determined, so that the automatic lawnmower presents a concentric pattern on the lawn around the landscape according to the target mowing path. This beautifies the lawn around the landscape, reduces the abruptness of the landscape on the lawn, improves the overall presentation effect of the pattern on the lawn, and thus enhances the user experience.

[0100] In one possible embodiment, determining at least one concentric pattern based on the at least one target obstacle region includes: determining the center point of each target obstacle region as a pattern center point to obtain at least one pattern center point, wherein the at least one pattern center point corresponds one-to-one with the at least one target obstacle region; determining the region radius corresponding to each target obstacle region, wherein the region radius is the radius of the smallest circle that completely surrounds the corresponding target obstacle region; determining the limiting radius corresponding to each target obstacle region, wherein the limiting radius is the distance between the pattern center point corresponding to the corresponding target obstacle region and the pattern center point corresponding to the nearest target obstacle region, or the distance between the pattern center point corresponding to the corresponding target obstacle region and the boundary of the nearest target lawn region; and determining the concentric pattern corresponding to each target obstacle region based on the region radius and the limiting radius to obtain the at least one concentric pattern.

[0101] In one possible embodiment, if the distance between the boundary of the first target obstacle area and the nearest target lawn area is less than the distance between the pattern center point of the first target obstacle area and the pattern center point of the second target obstacle area, then the distance between the boundary of the first target obstacle area and the nearest target lawn area is determined as the limit radius.

[0102] Please refer to Figure 7, which is a scene diagram of another grass mowing path generation method provided in this application embodiment. As shown in Figure 7, the center point of the pattern of the target obstacle area 61 is center point A, the center point of the pattern of the target obstacle area 64 is center point B, the target obstacle area 61 corresponds to the area radius R1 and the limit radius L, and the target obstacle area 64 corresponds to the area radius R2 and the limit radius L.

[0103] As can be seen in this example, the area radius and limit radius of each target obstacle area are determined, thereby determining at least one concentric pattern around the corresponding target obstacle area. Then, the target mowing path is determined based on the at least one concentric pattern, so that the automatic lawnmower presents a concentric pattern on the lawn around the landscape according to the target mowing path, thereby beautifying the lawn around the landscape, reducing the abruptness of the landscape on the lawn, improving the overall presentation effect of the pattern on the lawn, and thus improving the user experience.

[0104] In one possible embodiment, determining the concentric pattern corresponding to each target obstacle region based on the region radius and the limit radius corresponding to each target obstacle region to obtain the at least one concentric pattern includes: determining the target range corresponding to each target obstacle region based on the region radius and the limit radius corresponding to each target obstacle region, wherein the target range is the range between the corresponding target obstacle region and adjacent target obstacle regions that allows the automatic lawnmower to pass; obtaining the concentric spacing corresponding to each target obstacle region; and determining the concentric pattern corresponding to each target obstacle region based on the concentric spacing and the target range to obtain the at least one concentric pattern.

[0105] Specifically, the target range corresponding to each target obstacle region is determined based on the region radius and the limit radius corresponding to each target obstacle region. For example, the target range corresponding to target obstacle region 61 can be [0, L-R1-R2], and the target range corresponding to target obstacle region 64 can be [0, L-R1-R2].

[0106] In one possible embodiment, after determining the target range corresponding to each target obstacle area based on the area radius and the limit radius corresponding to each target obstacle area, the method further includes: updating the mowing map based on the at least one target obstacle area and the target range corresponding to each target obstacle area to obtain a target mowing map, wherein the target mowing map is marked with the at least one target obstacle area and the target range corresponding to each target obstacle area.

[0107] The machine data includes the range of cuttable widths.

[0108] Please refer to Figure 8, which is a schematic diagram of another lawn mowing path generation method provided in this application embodiment. As shown in Figure 8, after obtaining the target lawn mowing map, the terminal launches a second interface 800, which includes a third area 810 and a fourth area 820. The third area 810 is used to display the target lawn mowing map and obtain the user's selection operation on the target obstacle area, and the fourth area 820 is used to obtain the concentric spacing input by the user.

[0109] The fourth region 820 includes a first display frame 821, a second display frame 822, and a first input frame 823. The first display frame 821 displays a first prompt message: "Not within the cuttable width range, please re-enter." The second display frame 822 displays a second prompt message, which is the cuttable width range of the automatic lawnmower, guiding the user to input a concentric spacing within that range. The first input frame 823 obtains the concentric spacing corresponding to the target obstacle area selected by the user's target obstacle area selection operation. The cuttable width range can be, for example, [0.3, 1], and the user-input communication spacing can be, for example, 0.1.

[0110] The first input box 823 is surrounded by a first input reminder, for example, the first input reminder is displayed above the first input box 823. The first input reminder may be "Please enter the concentric distance of the obstacle area in the lower box".

[0111] When the concentric spacing entered by the user in the first input box 823 is not within the range of the cuttable width, the first display box 821 displays the first prompt information.

[0112] In this context, after receiving the target obstacle area selection operation, the third region will highlight the target obstacle area pointed to by the target obstacle area selection operation in the form of highlighting / color changing / frame.

[0113] As can be seen in this example, users can customize the concentric spacing of each concentric pattern, thereby meeting their needs to beautify the lawn around the landscape, improving the overall presentation of the patterns on the lawn, and thus enhancing the user experience.

[0114] In one possible embodiment, determining the concentric pattern corresponding to each target obstacle region based on the concentric spacing and the target range to obtain the at least one concentric pattern includes: obtaining the number of concentric points corresponding to each target obstacle region, wherein the sum of the product of the number of concentric points and the concentric spacing for each target obstacle region and the product of the number of concentric points and the concentric spacing for adjacent target obstacle regions is within the corresponding target range; obtaining the concentric pattern corresponding to each target obstacle region; and determining the concentric pattern corresponding to each target obstacle region based on the concentric pattern, the concentric spacing, and the number of concentric points to obtain the at least one concentric pattern.

[0115] The number of concentric circles refers to the number of concentric circles in the concentric pattern corresponding to the target obstacle area.

[0116] The fourth area 820 further includes a second input box 824 and a third display box 825. The second input box 824 is used to obtain the number of concentric circles corresponding to the target obstacle area selected by the user's input target obstacle area selection operation. The third display box 825 is used to display a third prompt message, which is "The number of concentric circles is too large, please re-enter". A second input reminder is displayed around the second input box 824, for example, the second input reminder is displayed above the second input box 824. The second input reminder could be "Please enter the number of concentric circles for this obstacle area in the lower box".

[0117] When the user has already entered the corresponding concentric spacing D1 and concentric number n1 for the target obstacle area 61, and the user has entered the corresponding concentric spacing D2 and concentric number n2 for the target obstacle area 64, if D1n1+D2n2 is not within the target range [0, L-R1-R2], then the third display box 825 displays the third prompt information, and the second input box 824 re-acquires the concentric number corresponding to the target obstacle area 64.

[0118] Users can also modify the concentric spacing in the first input box 823, and the first input box 823 will re-acquire the concentric spacing.

[0119] Users can also modify the concentric spacing and / or the number of concentric points corresponding to the target obstacle area 61.

[0120] The fourth region may further include a first setting frame, which includes a concentric shape option sub-frame and a concentric presentation effect setting sub-frame. The concentric shape option sub-frame includes multiple concentric shape options, which the user can select from. The multiple concentric shape options include concentric closed outlines such as rectangles, ellipses, cloud shapes, and triangles. After the user selects from the multiple concentric shape options, a local concentric pattern is generated based on the selected concentric shape and the corresponding number of concentric shapes, and displayed in the concentric presentation effect setting sub-frame. The user can click on each concentric shape to set the brightness of each concentric shape.

[0121] As can be seen in this example, users can customize the number of concentric shapes in each concentric pattern, thereby meeting users' needs to beautify the lawn around the landscape, improving the overall presentation of the patterns on the lawn, and thus enhancing the user experience.

[0122] Step S104: Determine the target mowing path based on the at least one concentric pattern.

[0123] The light and dark areas of each concentric shape are used to indicate the direction of movement of the automatic lawnmower. For example, light corresponds to clockwise and dark corresponds to counterclockwise. If the concentric shape is set to light, the direction of movement of the automatic lawnmower is clockwise.

[0124] The target mowing path is used to instruct the automatic lawnmower to cut at least one concentric pattern on the target lawn area.

[0125] As can be seen, in this embodiment, the electronic device acquires a lawn mowing map and machine data. The lawn mowing map indicates the spatial information of the target lawn area, and the machine data characterizes the configuration parameters of the automatic lawn mower. Multiple obstacle areas are determined based on the lawn mowing map, with each obstacle area being a prohibited area for the automatic lawn mower within the target lawn area. At least one concentric pattern is determined based on the multiple obstacle areas and the machine data, with each concentric pattern surrounding a corresponding obstacle area. A target mowing path is determined based on the at least one concentric pattern. Because at least one concentric pattern is determined based on the multiple obstacle areas and the automatic lawn mower's machine data, with each concentric pattern surrounding a corresponding obstacle area, and the target mowing path is then determined based on the at least one concentric pattern, the automatic lawn mower follows the target mowing path, creating concentric patterns on the lawn, thus beautifying the lawn around the landscape, reducing the abruptness of the landscape on the lawn, improving the overall presentation of the patterns on the lawn, and thus enhancing the user experience.

[0126] In other embodiments, all relevant content of each scenario involved in the above method embodiments can be executed by the electronic device 130 in the automatic lawnmower 110 shown in Figure 1b. The electronic device 130 in the automatic lawnmower 110 acquires a mowing map and machine data. The mowing map is used to indicate the spatial information of the target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawnmower. Multiple obstacle areas are determined based on the mowing map, with each obstacle area being an area in the target lawn area where the automatic lawnmower is prohibited from passing. At least one concentric pattern is determined based on the multiple obstacle areas and the machine data, with each concentric pattern surrounding a corresponding obstacle area. A target mowing path is determined based on the at least one concentric pattern. Since at least one concentric pattern is determined based on the multiple obstacle areas and the machine data of the automatic lawnmower, with each concentric pattern surrounding a corresponding obstacle area, and the target mowing path is determined based on the at least one concentric pattern, the automatic lawnmower presents a concentric pattern on the lawn following the target mowing path, thus beautifying the lawn around the landscape, reducing the abruptness of the landscape on the lawn, improving the overall presentation effect of the pattern on the lawn, and thus enhancing the user experience.

[0127] In other embodiments of this application, designing lawn patterns on lawn areas can enhance the aesthetics and functionality of outdoor spaces. Related technologies employ two methods to create lawn patterns: one is to spray colored paint onto the lawn to form a pattern, and the other is to pre-design a pattern on the land and then plant lawn at or around the pattern location. However, both of these methods can negatively impact lawn health or require significant time and resources.

[0128] To address the aforementioned issues, this application provides another method for generating mowing paths, aiming to improve the efficiency of automatic lawnmowers in generating lawn patterns. Furthermore, generating lawn patterns based on obstacles can enhance the stability and safety of automatic lawnmowers performing mowing or matting operations.

[0129] Please refer to Figure 9, which is a structural block diagram of another automatic lawn mowing system provided in this application embodiment. As shown in Figure 9, the automatic lawn mowing system 100 includes an automatic lawnmower 110 and an electronic device 130, which are connected in communication. The automatic lawnmower 110 can be any commercially available device capable of communicating with the electronic device, processing data, and performing mowing or matting operations. The electronic device 130 can be any commercially available device capable of communication interaction, such as a computer, mobile phone, or tablet. In a specific application scenario, the user can establish a communication connection between the electronic device 130 and the automatic lawnmower 110, and place the automatic lawnmower 110 in the target lawn area where a lawn pattern is desired. Then, the user only needs to send a mowing map of the target lawn area to the automatic lawnmower 110, which will design a lawn pattern based on the mowing map and current machine data, and perform mowing or matting operations according to the designed target pattern to generate the lawn pattern. An automatic lawn mowing system 100 can simultaneously correspond to multiple automatic lawn mowers 110 to perform mowing or matting operations on multiple target lawn areas defined in the target lawn area, thereby forming corresponding lawn patterns.

[0130] Please refer to Figure 10, which is a flowchart illustrating another method for generating mowing paths provided in this application embodiment, applied to an automatic lawnmower 110. The method includes:

[0131] Step S201: Obtain the mowing map of the target lawn area and the machine data of the automatic lawnmower.

[0132] In one possible embodiment, the lawn map can be a color image, marked with a corresponding map scale based on the size of the lawn map acquired by the automatic lawnmower. The map scale is the ratio of the length of a line segment on the map to the length of the corresponding line segment projected horizontally onto the ground; it indicates the degree of map reduction and is also called a scaling factor. Generally, a larger map scale results in smaller errors and higher measurement accuracy. Using the map scale and the lawn map, the automatic lawnmower can calculate the actual size of the target lawn area and accurately determine its boundaries.

[0133] The target lawn area is quite broad, including various lawn beautification occasions such as parks, stadiums, grasslands, gardens, etc. In a broad sense, it refers to the ground area covered by grass or other low-growing plants.

[0134] Step S202: Based on the mowing map, determine the obstacle information of multiple obstacles in the target lawn area.

[0135] In one possible embodiment, image recognition and analysis are performed on the mow map of the target lawn area to identify obstacles from the mow map. The process includes identifying specific irregular contours, colors, and shadows in the mow map. Then, the identified obstacles are marked on the mow map, and these markings are converted into vector data, i.e., obstacle information such as location, size, and outline are determined based on the coordinate system or reference points in the mow map.

[0136] Step S203: Determine the target pattern based on obstacle information and machine data.

[0137] In one possible embodiment, the target pattern consists of multiple similar shapes centered on the center of the target lawn area. Furthermore, the spacing between any two adjacent intersection points of these shapes in the same direction is equidistant. Each intersection point is formed by the center of one shape intersecting with multiple similar shapes along any direction. In short, the target pattern is a concentric pattern, with its center at the center of the target lawn area, and the edge paths of any two similar shapes within the concentric pattern are equidistant. Thus, the lines displayed in the target pattern generated by the automatic lawnmower are equally spaced, or multiples of the unit spacing. Compared to other types of patterns, this pattern type is more aesthetically pleasing, and the automatic lawnmower generates patterns more efficiently.

[0138] In one possible embodiment, machine data includes machine width, and obstacle information includes obstacle positions. Based on the obstacle information and machine data, a target pattern is determined, including: determining a set of distance limits based on the center position of the target lawn area and the mowing map; determining the distance difference between any two adjacent obstacles and the center position based on the obstacle positions, and determining a base distance; if at least one distance difference is less than or equal to the machine width, the maximum value among the distance differences less than or equal to the machine width is determined as the target interval distance; determining a reference rotation range and a reference pattern based on the target interval distance, the base distance, and the set of distance limits; and determining a target pattern adapted to the automatic lawnmower based on the reference rotation range, the target interval distance, and multiple reference patterns.

[0139] The distance constraint set includes the correspondence between reference direction and reference distance. The reference distance is the maximum distance between the center position and the boundary of the target lawn area in the corresponding reference direction. The base distance is the minimum value among the distances between each obstacle and the center position. The target interval distance is used to characterize the minimum interval distance between the boundaries of two adjacent similar shapes. The reference number in each reference number range corresponds to a reference shape. The reference shape is used to indicate the shape of the similar shape.

[0140] After obtaining the mowing map of the target lawn area, the first step is to determine the center position of the target lawn area. Then, based on the center position and the boundary of the target lawn area shown on the mowing map, the maximum distance in each direction is determined, i.e., the distance constraint set is established. This step determines the specific size data of the target lawn area based on the mowing map, ensuring that the designed target pattern will not allow the automatic lawnmower to operate outside the target lawn area during operation, avoiding the problem of the pattern not being fully displayed due to exceeding the area. Next, the distance between any two adjacent obstacles is determined based on the obstacle positions. This step is to determine the distance between obstacles and the machine width, ensuring that the designed lawn pattern can accommodate the movement of the equipment and that the equipment will not collide with obstacles during operation. By understanding the width of the equipment and the minimum distance between obstacles, it can be ensured that the designed lawn pattern is feasible in actual operation, and that the equipment can smoothly pass through or bypass obstacles.

[0141] When there are two adjacent obstacles that the automatic lawnmower cannot pass through, the maximum value of the distance difference that is less than or equal to the machine width is determined as the target interval distance. The principle is that when there is a gap between obstacles that cannot be passed through, the distance between similar shapes in the designed lawn pattern is made greater than or equal to this gap. In this way, during the operation of the final generated lawn pattern, the automatic lawnmower can bypass this gap, ensuring the stability and safety of the operation and improving the efficiency of the operation.

[0142] In one possible embodiment, based on the determined target interval distance and reference distances in each reference direction, the automatic lawnmower can determine a range of reference number of loops and a reference pattern corresponding to each reference number of loops. By limiting the minimum interval distance between the boundaries of two adjacent similar patterns and the distances in each direction, the range of number of loops can be determined, ensuring that the number of loops corresponding to the patterns included in the designed pattern is as high as possible, thus ensuring that the designed lawn pattern actually occupies a high coverage area of ​​the target lawn area.

[0143] In one possible implementation, increasing lawn cover offers several benefits: 1. Aesthetics: High-coverage lawns appear denser and more aesthetically pleasing, giving a clean and comfortable feel. 2. Weed Suppression: High-coverage lawns reduce exposed soil surface, decreasing the chance of weed growth and thus reducing the frequency and workload of weeding. 3. Soil Conservation: High-coverage lawns protect the soil from erosion, reduce water and soil loss, and help maintain soil fertility and health. 4. Temperature Regulation: High-coverage lawns reduce temperature fluctuations on the soil surface, providing a more comfortable environment, reducing soil moisture evaporation, and helping to keep the soil moist.

[0144] In addition to the above-mentioned multi-step parameter determination and the generation of various reference circle numbers and corresponding reference graphics based on the parameters, in actual operation, it is also necessary to consider that the automatic lawnmower can complete the designed reference pattern (i.e. the pattern determined according to the reference circle number and the corresponding reference graphic). Then, based on the machine data of the automatic lawnmower, the appropriate reference pattern is further determined as the target pattern, so as to be the final pattern generated in the target lawn area.

[0145] As can be seen in this example, based on multi-faceted data processing of the lawn map, parameters for designing lawn patterns are determined, improving the coverage, diversity, and practicality of the designed lawn patterns, as well as enhancing the safety and stability of the automatic lawnmower during actual operation. While ensuring the aesthetics of the target lawn area, lawn patterns that are adapted to the target lawn area and can be effectively generated by the automatic lawnmower are designed.

[0146] In one possible embodiment, the obstacle information further includes contour information; before determining the reference circle range based on the target interval distance, the base distance, and the set of distance limits, and after determining the base distance, the method further includes: if all distance differences are greater than the machine width, determining the smallest distance difference as the reference interval distance, and determining the reference obstacle corresponding to the smallest distance difference as the first obstacle and the second obstacle; performing edge curvature analysis on the contour information corresponding to the reference obstacles to determine the first curvature value corresponding to the first obstacle and the second curvature value corresponding to the second obstacle; if there is a first curvature value and / or a second curvature value greater than a preset curvature value, determining the safety interval distance based on the first curvature value and / or the second curvature value; and determining the target interval distance based on the reference interval distance and the safety interval distance.

[0147] Wherein, the first curvature value is the edge curvature value with the largest numerical value of the relative side of the first obstacle with respect to the second obstacle, and the second curvature value is the edge curvature value with the largest numerical value of the relative side of the second obstacle with respect to the first obstacle.

[0148] For example, please refer to Figure 11, which is a schematic diagram of a scenario for determining a target interval distance provided by an embodiment of this application. As shown in Figure 11, the center of the lawn pattern designed by the automatic lawnmower is the center of the target lawn area. The lawn pattern is composed of multiple similar patterns with the same interval distance between adjacent similar patterns. The lawn pattern is composed of elliptical patterns with 3 circles. In Figure 11, the black blocks represent the first obstacle and the second obstacle. The distance between the first obstacle and the second obstacle is the smallest distance difference, i.e., the reference interval distance. Since the curvature values ​​of the adjacent sides of the first obstacle and the second obstacle are both greater than the preset curvature value, i.e., the edges are sharp, which may affect the operation of the automatic lawnmower, the automatic lawnmower needs to maintain a safe interval distance from both the first obstacle and the second obstacle during operation. Therefore, based on the reference interval distance and the safe interval distance, the safe interval distance between the two circles can be determined.

[0149] If the distance between any two adjacent obstacles is greater than the machine's width, it means the automatic lawnmower can safely pass between the obstacles. In this case, to ensure a high coverage rate for the designed lawn pattern, the minimum distance difference is determined as the reference interval distance. Furthermore, to prevent damage to the automatic lawnmower during mowing or trimming operations due to sharp edges of obstacles, thus affecting work efficiency, a safe interval distance is determined based on the sharpness (curvature value) of the relative sides of the obstacles the automatic lawnmower will pass through. The reasons for adding a safe interval distance are as follows: 1. Safety considerations: High edge curvature may mean sharp or protruding edges of obstacles. If the automatic lawnmower or other machines approach these areas, damage or collisions may occur. 2. Mowing effect: Areas with high edge curvature may result in incomplete coverage or uneven mowing, affecting the overall mowing effect. 3. Work efficiency: Approaching areas with high edge curvature may require the lawnmower to frequently change direction or speed, reducing mowing efficiency. Finally, the difference between the reference interval distance and the safe interval distance is determined as the target interval distance.

[0150] As can be seen, in this example, by determining the reference interval distance based on the distance difference and then setting a safety interval distance to determine the final target interval distance, the safety of the automatic lawnmower during operation and the efficiency of the automatic lawnmower in generating lawn patterns can be improved.

[0151] In one possible embodiment, determining the reference lap range and reference graphic based on the target interval distance, the base distance, and the distance limit set includes: determining an adjustable distance range based on the distance limit set and a preset minimum turning radius; determining a reference lap range based on the maximum and minimum multiples of the target interval distance included in the adjustable distance range; determining an adjustable parameter type based on a preset user preference type; and determining a reference graphic corresponding to each reference lap based on the user preference type and the adjustable parameter type.

[0152] Among them, the maximum adjustable distance in the adjustable distance range is the difference between the maximum value of the reference distance and the minimum turning radius, the minimum adjustable distance is the difference between the minimum value of the reference distance and the base distance, the minimum turning radius is the minimum radius of the trajectory circle formed by the automatic lawnmower during operation, and the value of the adjustment parameter corresponding to the adjustment parameter type is related to the reference number of circles.

[0153] The minimum turning radius of an automatic lawnmower varies depending on the specific type, size, and design features of the equipment. Typically, the minimum turning radius of an automatic lawnmower (such as a lawnmower or lawnmower cart) is between 1 and 2 meters. However, some small automatic lawnmowers or those specifically designed for confined spaces may have even smaller turning radii, or even zero turning radius. Therefore, the accurate minimum turning radius should be determined based on the technical specifications and product parameters of the automatic lawnmower to improve the feasibility of designing lawn patterns. Since the target interval distance is the minimum distance between two adjacent similar patterns, the number of loops of the corresponding similar pattern can be determined by the multiple of the target interval distance that the adjustable distance can encompass within the adjustable distance range.

[0154] The user preference type indicates the type of lawn pattern the user prefers, including but not limited to ellipses, polygons, and wavy patterns. Since each type of graphic can be adjusted with different parameters, the adjustable type can be determined based on the user preference type to create a reference graphic that fits the desired number of turns, ensuring that the final reference pattern is fully generated within the target lawn area and conforms to the user's preferences. In one possible embodiment, the user preference type can be sent from the electronic device 130 in the automatic lawn mowing system 100 shown in Figure 9 to the automatic lawnmower 110.

[0155] As can be seen in this example, the automatic lawnmower determines the range of graphic circles and the corresponding reference graphic based on the specific parameters determined earlier, so that the designed reference pattern can be adapted to the area of ​​the target lawn area, and can improve the accuracy and flexibility of the automatic lawnmower's data processing according to the user's preference type.

[0156] In one possible embodiment, the user preference type is used to indicate any of the following graphic types: ellipse, polygon, wavy; and the adjustable parameter type is determined according to the preset user preference type, including: if the user preference type is ellipse, then the adjustable parameter type is determined to be the eccentricity of the reference graphic; or, if the user preference type is polygon, then the adjustable parameter type is determined to be the number of sides of the reference graphic; or, if the user preference type is wavy, then the adjustable parameter type is determined to be the amplitude and / or frequency of the boundary of the reference graphic.

[0157] For example, please refer to Figure 12, which is a scene diagram of a lawn pattern type provided in an embodiment of this application. As shown in Figure 12, type 1 is an elliptical graphic type, type 2 is a polygonal graphic type, and type 3 is a wavy graphic type. The number of circles corresponding to the three patterns is 2, and it can be seen that the graphics that make up the pattern are concentric similar graphics. After obtaining the user's preferred type, the adjustable parameters can be adjusted according to the specific number of circles to generate the corresponding pattern. Among them, for the elliptical shape, the eccentricity is adjusted to adjust the shape of the ellipse, making it more round or flat. For the polygonal shape, the number of sides is adjusted to adjust the shape of the graphic, making it a pentagon or a hexagon. For the wavy shape, the amplitude and / or frequency of the graphic boundary are adjusted to increase the height of the wavy lines or the number of wavy lines.

[0158] The eccentricity of an ellipse is the ratio of the distance from the moving point to the focus to the distance from the moving point to the directrix. A larger eccentricity results in a flatter ellipse, while a smaller eccentricity makes the ellipse closer to a circle. The relationship between eccentricity and the number of reference rings can be that more reference rings result in a larger eccentricity, or vice versa; no specific limitation is made here. Typically, the major axis of the outer ellipse is aligned with the direction of the reference with the longest reference distance, and the major axis of the outer ellipse does not exceed the target lawn area.

[0159] The relationship between the number of sides of the ellipse and the number of reference rings can be such that fewer rings correspond to more sides. This makes the overall pattern appear richer and more aesthetically pleasing when the number of reference rings is small. The minimum number of sides can be set to a quadrilateral. If the user preference type is wavy, the adjustable parameters can also be set to the wavelength, curve shape, and boundary style of the reference graphic's boundary. When the user preference type is wavy, the meaning of each adjustable parameter type is as follows: Amplitude: the maximum height of the wavy; Wavelength: the period of the wavy or the distance between wave crests; Frequency: the number of wavy lines or the number of wavy lines per period; Curve shape: the curvature of the reference wavy line; Boundary style: the type of reference border, such as solid line, dashed line, etc.

[0160] The specific values ​​and adjustment ranges of each adjustable parameter can have various relationships with the reference number of revolutions, and are not limited here.

[0161] As can be seen in this example, the specific adjustable parameter type is determined based on the user preference type, so that the specific adjustable parameter value can be determined based on the number of revolutions. This makes the reference graphic corresponding to each reference number of revolutions different, thereby increasing the richness of the reference pattern and improving the flexibility of the automatic lawnmower design pattern.

[0162] In one possible embodiment, the machine data also includes the current device location and device battery level. Based on a reference rotation range, a target interval distance, and multiple reference patterns, a target pattern adapted to the automatic lawnmower is determined, including: generating multiple reference patterns based on the reference rotation range, reference patterns, and target interval distance; determining the corresponding reference path length based on each reference pattern, obstacle location, current device location, and contour information; determining the reference power consumption corresponding to each reference pattern based on a preset operating power consumption and multiple reference path lengths; and identifying the reference pattern corresponding to the reference power consumption that is less than or equal to the automatic lawnmower's battery level and whose value is closest to the battery level as the target pattern.

[0163] The reference path length is the path length that the automatic lawnmower travels when generating a reference pattern in the target lawn area, and the operating power consumption is used to indicate the power consumed by the automatic lawnmower while maintaining its operating state and continuously moving a preset distance.

[0164] Since each reference pattern is unique, the actual mowing and compaction areas required by the automatic lawnmower for each reference pattern also differ. For each reference pattern, a reference power consumption is determined based on the reference path length required for the automatic lawnmower to generate it. In one possible embodiment, a longer path length for the automatic lawnmower indicates a more complex pattern. Therefore, to ensure both the complexity of the reference patterns and the lawn coverage, the reference pattern corresponding to the reference power consumption value closest to the device's power consumption value is selected as the target pattern.

[0165] As can be seen in this example, in order to ensure the complexity of the reference pattern and the lawn coverage, the power consumption required by the automatic lawnmower to generate each reference pattern is calculated. Then, the reference pattern corresponding to the reference power consumption closest to the device's power consumption value is determined as the target pattern, which improves the practicality of the automatic lawnmower and the stability of its autonomous operation, and avoids the inability to complete the target pattern due to insufficient power.

[0166] In one possible embodiment, determining the corresponding reference path length based on each reference pattern, obstacle position, current device position, and contour information includes: determining the operation start position located on the reference pattern that is closest to the current device position based on the currently processed reference pattern; determining the distance between the operation start position and the current device position as a first path length, and determining a second path length based on the reference pattern; if it is determined based on the obstacle position that there is a target obstacle that overlaps with the reference pattern, then determining a third path length based on the contour information corresponding to the target obstacle; and determining the sum of the first path length, the second path length, and the third path length as the reference path length.

[0167] The second path length is the shortest path length required for the automatic lawnmower to move along the reference pattern from the starting position of the operation, and the third path length is the path length required for the automatic lawnmower to go around the edge of the obstacle.

[0168] For example, please refer to Figure 13, which is a schematic diagram of a reference path length provided in an embodiment of this application. As shown in Figure 13, the path length of the automatic lawnmower moving from its current position to the nearest work start position located at the edge of the graphic is the first path length. Then, the total path length of the automatic lawnmower moving along the edge of each graphic in the pattern, and moving from one graphic to the next, is the second path length, which is the actual path length traveled from the work start position until the automatic lawnmower reaches the work end position (excluding detour paths where obstacles overlap with graphic edges). Then, if an obstacle's position is detected to overlap with the edge position of the pattern to be generated, the minimum detour path, i.e., the third path length, is calculated based on the actual contour of the obstacle. Finally, the sum of the first path length, the second path length, and the third path length is determined as the reference path length, and the corresponding power consumption for the operation is determined based on the reference path length.

[0169] In one possible embodiment, since the automatic lawnmower also needs a path to reach its starting position, the starting position of the operation is determined by identifying the point closest to the current device location and situated on the reference pattern. The length of this path is defined as the first path length. The second path length is the path length required for the automatic lawnmower to move along the reference pattern without needing to detour around obstacles. The third path length is the path length required for the automatic lawnmower to automatically detour around an obstacle before reaching its edge of the reference pattern, and then continue moving along the original pattern after detouring. Specifically, when detouring around an obstacle, the automatic lawnmower can choose two detour paths based on its direction when facing the obstacle. Each detour path is determined along the obstacle's outline. The automatic lawnmower calculates the lengths of the two detour paths and selects the shortest one. To avoid disrupting the actual effect of the pattern during detours, the automatic lawnmower temporarily stops mowing or matting during the detour, resuming operation upon returning to its original trajectory.

[0170] As can be seen in this example, the automatic lawnmower will calculate the reference path length based on the current location of the device and the positional relationship between the obstacle and the designed reference pattern, thereby improving the accuracy of the automatic lawnmower's data processing and ensuring the stability of the automatic lawnmower's lawn pattern generation process.

[0171] Step S204: Perform mowing or matting operations according to the target pattern to generate the target pattern in the target lawn area.

[0172] The automatic lawnmower can choose between mowing and pressing operations based on the actual conditions of the lawn in the target area. For example, when the density of plants in the lawn is high and the plant types are not easy to cut, pressing can be selected to promote lawn growth, beautify the appearance, and control weeds. When the plants in the lawn are tall and the lawn surface is not smooth, mowing can be selected.

[0173] Both lawn mowing and grass pressing have their specific benefits. The benefits of mowing include: 1. Maintaining a clean lawn: Mowing effectively trims overgrown grass, keeping the lawn surface clean and even. A clean lawn looks more aesthetically pleasing and enhances the quality of the landscape. 2. Promoting lawn growth: Mowing encourages regrowth of lawn plants, stimulating denser growth. After mowing, new growth areas of the lawn plants can more easily access sunlight, air, and water, which is beneficial for healthy lawn growth. 3. Reducing weed growth: Regular mowing reduces weed growth, keeping the lawn surface clean and fresh. Timely trimming inhibits weed growth and reduces competition from weeds for lawn plants. 4. Improving air circulation: After mowing, shorter grass clumps on the lawn surface allow air to circulate more easily to the underside of the lawn. This helps improve soil aeration and water permeability, promoting the growth of soil microorganisms and contributing to lawn health. 5. Preventing pests and diseases: Regular mowing effectively controls pests and diseases on the lawn. After mowing, the lawn surface is cleaner, reducing hiding places for germs and pests, which helps to mitigate the impact of pests and diseases on lawn plants.

[0174] The benefits of lawn compaction include: 1. Promoting lawn growth: Compacting the lawn helps to ensure close contact between the cut grass and the soil, promoting lawn growth. Compacting the lawn allows for better utilization of soil nutrients and moisture, contributing to vigorous growth. 2. Enhancing lawn appearance: Compacting the lawn surface makes it smoother, reducing gaps between grass clumps and improving the overall aesthetics. A smooth, uniform lawn appearance is generally more appealing. 3. Controlling weed growth: Compacting the lawn reduces exposed soil, decreasing the chance of weed growth. A denser soil surface inhibits weed growth, reducing the need for weeding. 4. Improving soil texture: Compacting promotes contact between soil particles, enhancing soil compaction and stability. This helps improve soil texture, aeration, water retention, and fertility, providing a better environment for plant growth. 5. Reducing soil erosion: After compaction, the soil surface is more firm, reducing water loss and soil erosion. This helps maintain soil stability, reduces the risk of soil erosion, and protects the environment. Specifically, users can also make selections based on their preferences. For example, users can send a job selection command to the automatic lawnmower 110 using the electronic device 130 in the automatic lawnmower system 100 shown in Figure 1 to select the job type that the automatic lawnmower 110 will select when generating the target pattern.

[0175] As can be seen, Figure 10 is a flowchart illustrating a lawn mowing path generation method provided in an embodiment of this application. In this embodiment, the automatic lawn mower obtains a lawn mowing map of the target lawn area to determine information on multiple obstacles, and further determines a suitable target pattern based on its own machine data. This ensures the compatibility of the target pattern with the actual situation of the target lawn area, improves the stability and efficiency of the lawn pattern generated by the automatic lawn mower, and enhances the aesthetics of the lawn pattern.

[0176] In other embodiments of this application, lawn beautification typically involves cutting or compacting the lawn to create visual patterns based on varying heights or reflective intensities. For concentric patterns (e.g., multiple concentric circles with different radii), multiple concentric patterns form multiple ring patterns. When an automatic lawnmower compacts adjacent ring patterns in different directions or cuts them to different lengths, the lawn visually forms multiple ring patterns. If multiple obstacles (such as artificial hills) exist in the lawn, generating concentric patterns with fixed lengths or radii can result in a chaotic distribution of obstacles across the multiple concentric patterns. Consequently, the lawnmower needs to use algorithms to avoid these obstacles during operation, affecting its efficiency.

[0177] To address the aforementioned issues, this application provides another method for generating mowing paths. When setting multiple concentric patterns, the distance between the nearest obstacle on the inner side of the boundary of each concentric pattern and the obstacle is not less than a first width. This allows the automatic lawnmower to move only from the outside of the obstacle without needing to avoid it through algorithms, thus improving the lawnmower's operating efficiency.

[0178] Please refer to Figure 14, which is a schematic diagram of an automatic lawn mowing system provided in an embodiment of this application. As shown in Figure 14, the automatic lawn mowing system 100 includes a path generation module 101, a control center module 102, and an automatic lawn mower 110.

[0179] The path generation module 101 is used to generate a corresponding path for the automatic lawnmower 110 by setting a pattern for the target lawn area.

[0180] The control center module 102 is used to control the automatic lawnmower 110 to automatically mow or compact the lawn according to the path generated by the path generation module 101.

[0181] An automatic lawnmower 110 is used to mow or compact lawns. Understandably, the automatic lawnmower 110 can be set to different mowing heights when mowing the lawn, and different compaction pressures when compacting the lawn. The path generation module 101 and the control center module 102 can be part of the automatic lawnmower 110 or independent modules.

[0182] The path generation module 101 obtains the first distance between the center position of the target lawn area and the centroid of each of the multiple obstacles on the target lawn area, and sets multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn area. 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 area, and the largest concentric pattern does not exceed the boundary of the target lawn area. Each obstacle does not intersect the boundaries 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 automatic lawnmower 110. 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.

[0183] This allows the automatic lawnmower 110 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. In other words, the target path formed by multiple graphic patterns eliminates unnecessary detours, enabling the automatic lawnmower 110 to move smoothly along the target path and improving its operational efficiency.

[0184] 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.

[0185] Please refer to Figure 15, which is a flowchart illustrating another method for generating mowing paths according to an embodiment of this application. This method is applied to the path generation module in the aforementioned automatic mowing system. As shown in Figure 15, the method includes the following steps:

[0186] Step S301: The path generation module obtains the first distance between the center position of the target lawn area and the centroid of each of the multiple obstacles on the target lawn area.

[0187] In one possible embodiment, the center position of the target lawn area can be obtained based on the coordinates of the target lawn area. For example, the center position can be obtained using the coordinate averaging method, that is, by calculating the average of the coordinates of all vertices to determine the center position. The coordinates of the target lawn area can be generated based on a two-dimensional image of the target lawn area, which can be obtained from a lawn design drawing or by photographing the lawn. The centroid of each obstacle can be determined based on the obstacle's top-view plane or the plane where the obstacle contacts the lawn, including the maximum radius of subsequent obstacles, which is also determined based on the obstacle's top-view plane or the plane where the obstacle contacts the lawn.

[0188] In step S302, 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 area.

[0189] In one possible embodiment, each of the multiple concentric patterns is centered on the center of the target lawn area, and the largest concentric pattern does not exceed the boundary of the target lawn area. No obstacle intersects the boundaries of the multiple concentric patterns, and the distance between any two adjacent concentric patterns is not less than a first width, which is the minimum width required for an automatic lawnmower to cut the lawn. 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. The concentric pattern can be a concentric circle, concentric ellipse, concentric rectangle, or other irregular concentric closed contour. For example, please refer to Figure 16, which is a schematic diagram of the structure of a concentric pattern provided in an embodiment of this application. As shown in Figure 16, it includes concentric circles, a concentric matrix, and an irregular concentric closed contour.

[0190] In one possible embodiment, the concentric patterns are set based on the target lawn area, so the largest concentric pattern will not exceed the boundary of the target lawn area. Each obstacle does not intersect the boundaries of the multiple concentric patterns, meaning that the two-dimensional plane defined by each obstacle will not intersect the boundaries of the 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, which are determined when a ray drawn from the center of the target lawn area intersects with the two adjacent concentric patterns. The inner side of the boundary of a concentric pattern refers to the side closer to the center.

[0191] For example, please refer to Figure 17, which is a structural schematic diagram of a concentric pattern boundary point provided in an embodiment of this application. As shown in Figure 17, taking a concentric circle as an example, it includes 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 a ray drawn from the center position intersects with the first concentric pattern 302 and the second concentric pattern 301, resulting in a first boundary point 304 corresponding to the first concentric pattern 302 and a second boundary point 303 corresponding to the second concentric pattern 301. 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.

[0192] The following is a detailed explanation of the current step:

[0193] 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 area, including: setting concentric patterns in ascending order of area based on the center position of the target lawn area; 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.

[0194] When setting concentric patterns, the center of the target lawn area is used as the reference point, and the patterns are set from smallest to largest area. In one possible embodiment, the concentric patterns are complete closed shapes. When setting the first concentric pattern, if it is determined that there are no obstacles among the multiple obstacles whose first 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, so that the automatic lawnmower can move within the first concentric pattern.

[0195] In one possible embodiment, when setting the y-th concentric pattern, it is necessary to determine whether there is an obstacle on the outer side of the boundary of the (y-1)-th concentric pattern whose minimum distance from the outer side of the boundary of the (y-1)-th concentric pattern is less than the first width. If there is no obstacle on the outer side of the boundary of the (y-1)-th concentric pattern whose minimum distance from the outer side of the boundary of the (y-1)-th concentric pattern is less than the first width, then the influence of the obstacle 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 needs to be no 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 automatic lawnmower can move and operate in the non-overlapping part between the y-th and (y-1)-th concentric patterns. It can be understood that the outer side of the boundary refers to the side away from the center position. When setting concentric patterns, if the boundary of the y-th concentric pattern exceeds the boundary of the target lawn area, the y-th concentric pattern is not retained, and setting multiple concentric patterns is stopped.

[0196] In one possible embodiment, when setting concentric patterns, if there are no obstacles, the minimum distance between the boundary and the center of the first concentric pattern should not be less than the first width, and the minimum distance between the boundary and the center of the y-th concentric pattern should not be 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 automatic lawnmower to move and operate within multiple ring patterns formed by multiple concentric patterns without affecting other ring patterns.

[0197] 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.

[0198] In one possible embodiment, when setting the first concentric pattern, there may be at least one first obstacle with a first distance 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 a 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 automatic lawnmower to move and operate next to the first obstacle Mx within the first concentric pattern.

[0199] For example, please refer to Figure 18. Figure 18 is a structural schematic diagram of a first concentric pattern provided in an embodiment of this application. As shown in Figure 18, taking a concentric circle as an example, when setting the first concentric pattern 302, if the first target distance 403 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 it is necessary to set the minimum distance between the boundary of the first concentric pattern 302 and the center position to be no less than the second distance. The second distance includes the sum of the first target distance 403 shown in Figure 5, the first maximum radius 404 of the first obstacle 401, and the first length 405. The first length 405 is no less than the first width.

[0200] 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. 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, so that the automatic lawnmower can move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the working efficiency of the automatic lawnmower.

[0201] 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.

[0202] 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.

[0203] 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 is repeated 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.

[0204] For example, please refer to Figure 19, which is a schematic diagram of another first concentric pattern provided in an embodiment of this application. As shown in Figure 19, taking a concentric circle 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 it is necessary to set the minimum distance between the boundary of the first concentric pattern 302 and the center position to not exceed a third distance. The third distance includes the sum of the second target distance 501 shown in Figure 19, the second maximum radius 502 of the second obstacle 402, and the second length 503. The second length 503 is not less than the first width.

[0205] 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, 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 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, so that the automatic lawnmower can move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the working efficiency of the automatic lawnmower.

[0206] 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.

[0207] 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 automatic lawnmower 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.

[0208] For example, please refer to Figure 20, which is a structural schematic diagram of the y-th concentric pattern provided in the embodiment of this application. As shown in Figure 20, taking a concentric circle 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 boundary 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.

[0209] 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 automatic lawnmower to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the automatic lawnmower.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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 automatic lawnmower to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the automatic lawnmower.

[0214] 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.

[0215] 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 scenario. In a feasible embodiment, 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 avoid the automatic lawnmower 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.

[0216] 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.

[0217] 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.

[0218] Step S303: The path generation module generates a target path based on multiple concentric patterns.

[0219] In one feasible embodiment, the target path is generated based on the 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 where there is an obstacle is generated based on the ring pattern with a width of at least a first width next to the obstacle.

[0220] For example, please refer to Figure 21, which is a schematic diagram of a target path structure provided in an embodiment of this application. As shown in Figure 21, 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. There are two obstacles in the second concentric ring pattern from the outside to the inside. Therefore, the width of this concentric ring pattern is relatively large, and there is a distance of at least the first width left next to the two obstacles. Therefore, a target path can be directly generated based on the outermost edge, so that the automatic lawnmower does not need to avoid obstacles according to complex algorithms and can complete the movement operation more smoothly. 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 of the outer edge, thus visually forming a corresponding pattern.

[0221] As can be seen from the embodiments of this application, multiple concentric patterns can form multiple concentric ring patterns. The automatic lawnmower 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 automatic lawnmower will not affect the lawns 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, the automatic lawnmower can also move directly from the outside of the obstacle in the ring pattern when there are obstacles in the concentric patterns, without affecting other ring patterns. Thus, the target path formed by multiple concentric patterns does not require complex avoidance operations, allowing the automatic lawnmower to move smoothly according to the target path, thereby improving the operating efficiency of the automatic lawnmower.

[0222] In other embodiments of this application, in the field of lawn beautification, people often hope to increase the attractiveness of the landscape through patterns on the lawn. In the prior art, when generating lawn patterns using grass pressing or mowing methods, if there are obstacles in the lawn, the lawn is often simply bypassed by following the shape of the obstacles. In this process, the automatic lawnmower may be used unnecessarily, and simply bypassing the obstacles may break the overall aesthetics of the lawn pattern, making the final pattern lack coherence and harmony. For example, in Figure 22, there is an obstacle 5 in the target lawn area 4. After encountering obstacle 5, the automatic lawnmower 110 needs to shut down the operation module and bypass the obstacle according to its outline, increasing the operation time.

[0223] To address the aforementioned issues, this application provides another method for generating lawn mowing paths. By controlling an automatic lawnmower to operate based on obstacles and following a preset lawn pattern, the method reduces repetitive and unnecessary machine use caused by the automatic lawnmower avoiding obstacles, improves the operating efficiency of the automatic lawnmower, and enhances the integrity and aesthetics of the lawn pattern.

[0224] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0225] Please refer to Figure 1a. The automatic lawn mowing system 100 includes an automatic lawnmower 110 and a server 120 that are interconnected. The automatic lawn mowing system 100 may also include an electronic device 130. Users can control the automatic lawnmower 110 to move in advance via the electronic device 130, determine the target lawn area to be mowed based on the movement trajectory, and synchronize the data corresponding to the target lawn area to the automatic lawnmower 110 and the server 120. In some embodiments, data corresponding to the target lawn area can also be obtained through monitoring equipment around the target lawn area. Users can also set multiple parameters for the lawn pattern on the target lawn area via the electronic device 130, such as the center position, concentric spacing, grass compaction direction, and mowing height, and send these parameters to the server 120. The server 120 generates corresponding mowing instructions on the target lawn area according to a preset program based on these parameters to generate a lawn pattern, and sends the mowing instructions to the automatic lawnmower 110. The automatic lawnmower 110 begins compacting or mowing the grass from the inside out or from the outside in according to the mowing instructions. At the same time, the automatic lawnmower 110 sends the real-time mowing progress to the electronic device 130, which allows the user to observe the real-time mowing progress.

[0226] The electronic device 130 can be a smartphone, tablet, laptop, desktop computer, smartwatch, etc., but is not limited to these. The electronic device 130 and the server 120 can be directly or indirectly connected via wired or wireless communication. The server 120 can be an independent physical server 120, a server cluster or distributed system composed of multiple physical servers 120, or a cloud server 120 that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. This application does not impose any restrictions on these aspects.

[0227] Among them, the automatic lawnmower 110 can walk automatically to avoid collisions, automatically return to the charging station within the designated range, and has safety detection and battery power detection functions. It also has a certain climbing ability and is especially suitable for lawn mowing and maintenance in family courtyards, public green spaces, and other places. Its features include: automatic lawn mowing, grass clipping removal, automatic rain protection, automatic charging, automatic obstacle avoidance, compact size, electronic virtual fence, and network control.

[0228] Please refer to Figure 23a. As shown in Figure 23a, the automatic lawnmower 110 includes a control module 103, a drive module 104, and an operation module 105. Those skilled in the art will understand that the structure of the automatic lawnmower 110 shown in Figure 23a does not constitute a limitation on the automatic lawnmower 110, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. For example, the automatic lawnmower may also include a power supply 106 and other components. Wherein:

[0229] The control module 103, as shown in Figure 23b, is the control center of the automatic lawnmower 110. The control module 103 may include a central processing unit (CPU) 1031, a memory 1032, and a communication bus 1033. The control module 103 also includes components such as input / output ports (not shown in Figure 23b), timers / counters (not shown in Figure 23b), digital-to-analog converters (not shown in Figure 23b), and analog-to-digital converters (not shown in Figure 23b). The CPU 1031 executes various functions and processes data of the automatic lawnmower 110 by running or executing software programs and / or modules stored in the memory 1032, and by calling data stored in the memory 1032. In one feasible embodiment, the CPU 1031 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the CPU 1031.

[0230] The drive module 104 is electrically connected to the control module 103 and is used to respond to the control signals transmitted by the control module 103 to adjust the travel speed and travel direction of the automatic lawnmower 110, so as to realize the self-moving function of the automatic lawnmower 110.

[0231] The operation module 105 includes a mowing module 1051 and a pressing module 1052. Both the mowing module 1051 and the pressing module 1052 are electrically connected to the control module 103. The mowing module 1051 is used to respond to the control signals transmitted by the control module 103 to adjust the height and speed of the cutting disc to achieve the mowing operation; the pressing module 1052 is used to respond to the control signals transmitted by the control module 103 to adjust the height of the pressing device to achieve the pressing operation.

[0232] The power supply 106 can be logically connected to the control module 103 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 106 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0233] Although not shown, the automatic lawnmower 110 may also include a communication module, etc., which will not be described in detail here. The communication module is used for receiving and sending signals during the information transmission and reception process. By establishing a communication connection with the electronic device 130, the base station, or the server 120, it realizes the transmission and reception of signals with the electronic device 130, the base station, or the server 120.

[0234] Based on the above hardware structure, an embodiment of the grass mowing path generation method of this application is proposed.

[0235] Please refer to Figure 24, which is a flowchart illustrating a method for generating a mowing path according to an embodiment of this application. As shown in Figure 24, the method is applied to an automatic lawnmower 110, and the method includes:

[0236] Step S401: Control the automatic lawnmower to perform operations on multiple grass paths to form a preset pattern.

[0237] The preset pattern is a concentric geometric shape, which includes multiple concentric stripes with obstacles as base points and preset distances as concentric intervals. Each concentric stripe includes a grass path to be worked on.

[0238] In some embodiments, the common center of the plurality of grass paths to be worked is the centroid of the obstacle, and the inner diameter of the grass path with the smallest inner diameter among the plurality of grass paths to be worked is greater than or equal to the minimum circumscribed circle radius of the obstacle.

[0239] In some embodiments, the width of each grass path to be worked is greater than or equal to the working width of the automatic lawnmower, and the preset distance is greater than or equal to the width of the grass path to be worked.

[0240] For example, please refer to Figures 25a and 25b. The preset pattern is a concentric geometric figure with the centroid O of obstacle 5 as the center and a preset distance D as the concentric spacing (shown as concentric circles in the figures, but it can also be any closed set image). The minimum inner diameter R1 of the concentric stripes is greater than or equal to the minimum circumcircle radius R0 of obstacle 5. When the minimum inner diameter R1 is equal to the minimum circumcircle radius R0, theoretically, the automatic lawnmower 110 can just bypass obstacle 5. However, in actual operation, the value of the minimum inner diameter R1 can be set to be greater than the value of the minimum circumcircle radius R0 to prevent the automatic lawnmower 110 from rubbing against obstacle 5 during operation and causing machine wear. The preset pattern includes multiple concentric stripes, each containing a grass path to be worked on. The width of the grass path to be worked on is greater than or equal to the working width of the automatic lawnmower 110. When the width of the grass path to be worked on is equal to the working width, the automatic lawnmower 110 completes the work on one grass path with one revolution. When the width of the grass path to be worked on is greater than the working width, the automatic lawnmower 110 needs to revolution on multiple times to complete the work on the grass path to be worked on. The preset distance is greater than or equal to the width of the grass path to be worked on. Within the same grass path to be worked on, the automatic lawnmower 110 travels in the same direction. The travel direction of the automatic lawnmower 110 can be different in different grass paths to be worked on. Therefore, after completing the work in one grass path to be worked on, the automatic lawnmower 110 needs to move a preset distance radially to reach the next grass path to be worked on. Therefore, the preset distance is at least equal to the width of the grass path to be worked on. According to the pattern design requirements, the preset distance can also be greater than the width of the grass path to be worked on. See Figure 25a, where the working width is equal to the width of the grass path to be worked on, and the preset distance D is equal to the width of the grass path to be worked on; see Figure 25b, where the working width is equal to the width of the grass path to be worked on, and the preset distance is greater than the width of the grass path to be worked on.

[0241] The automatic lawnmower is controlled to perform the following steps on each grass path to be mowed:

[0242] Step S4011: Control the automatic lawnmower to move from the starting point of the first grass path to be worked in a preset direction, and control the working module of the automatic lawnmower to perform work to form a pattern on the first grass path to be worked.

[0243] The preset direction of travel is either clockwise or counterclockwise, and the operation module includes either a grass-pressing module or a grass-cutting module.

[0244] The working module is installed at the bottom of the automatic lawnmower, with a certain gap between the bottom of the lawnmower and the ground. The automatic lawnmower can be equipped with only one of the pressing or mowing modules, or both. Based on preset settings, the automatic lawnmower controls the activation of either the pressing or mowing module. In practical operation, a possible example is that when the working module is activated, the automatic lawnmower uses a telescopic structure to raise the working module to a preset height for operation. When the working module is deactivated, the automatic lawnmower retracts the working module to the bottom of the automatic lawnmower using the telescopic structure. When the working module is the mowing module, the rotation speed of the cutting disc also needs to be adjusted.

[0245] Step S4012: It is detected that the automatic lawnmower has returned to the starting point.

[0246] Step S4013: Close the operation module and control the automatic lawnmower to move the preset distance along the radial direction to the second grass path to be operated.

[0247] The radial direction is either the centrifugal direction or the centripetal direction.

[0248] In this embodiment, when the automatic lawnmower moves from the first grass-growing lane to the second grass-growing lane, it can move radially from its starting position. The radial direction ensures that the automatic lawnmower travels the shortest distance between adjacent grass-growing lanes, resulting in the shortest travel time and highest efficiency. In some embodiments, when the automatic lawnmower moves from the first grass-growing lane to the second grass-growing lane, it can also move in any direction from its starting position. This provides high flexibility, but the efficiency is lower compared to the radial direction.

[0249] In some embodiments, for the same preset pattern, the radial direction is the same, and the radial direction is one of the centripetal direction or the centrifugal direction. The method further includes: if the first grass path to be worked is the grass path with the smallest inner diameter, then the radial direction is the centrifugal direction; if the first grass path to be worked is the grass path with the largest inner diameter, then the radial direction is the centripetal direction.

[0250] For example, please refer to Figures 26a-26b. Figures 26a and 26b both follow the example provided in Figure 25a. The centripetal direction refers to working inwards along the radial direction from the outermost grass path to be worked, as shown in Figure 26a. The centrifugal direction refers to working outwards along the radial direction from the innermost grass path to be worked, as shown in Figure 26b. The shaded areas in Figures 26a and 26b are marked as completed tasks.

[0251] As can be seen, in this embodiment of the application, the server pre-plans the working path of the automatic lawnmower, so that the automatic lawnmower can operate according to the pre-set pattern, whether it operates from the outside to the inside or from the inside to the outside, and thus form the pattern required by the user.

[0252] In some embodiments, the operation module includes a grass pressing module, and at least one of the plurality of grass tracks to be operated has a preset travel direction that is different from the preset travel directions of the other grass tracks to be operated.

[0253] In the grass-pressing module, the grass bends down along the direction of travel during pressing. For example, if the travel direction is clockwise, the grass bends down clockwise; if the travel direction is counterclockwise, the grass bends down counterclockwise. Different bending directions create visual variations in light and shadow, thus forming a preset pattern. Therefore, when the working module is the grass-pressing module, at least one of the multiple grass-pressing paths must have a preset travel direction different from the other paths, creating a light and shadow pattern across the multiple grass-pressing paths.

[0254] As can be seen, in this embodiment of the application, a stripe pattern can be formed by pressing grass in different directions between stripes.

[0255] In some embodiments, the operation module includes a mowing module, and the preset travel direction of each of the plurality of grass paths to be operated can be the same or different.

[0256] In some embodiments, each grass path to be worked has the same preset direction of travel, and at least one of the grass paths to be worked has a different mowing height than the other grass paths to be worked.

[0257] In the mowing module, different mowing heights visually create variations in brightness to form a preset pattern. The direction of travel has minimal impact on pattern formation. Therefore, when the module is mowing, the mowing height is the only factor affecting the visual pattern. Different mowing heights result in different brightness levels for each grass path, regardless of whether the multiple paths are traveling in the same direction.

[0258] As can be seen, in this embodiment, the automatic lawnmower is controlled to perform operations on multiple grass paths to form a preset pattern. The preset pattern is a concentric geometric shape, containing multiple concentric stripes with obstacles as base points and a preset distance as the concentric interval. Each concentric stripe contains a grass path to be worked. The automatic lawnmower is controlled to perform the following steps on each grass path to be worked: the automatic lawnmower is controlled to move from the starting point of the first grass path to be worked in a preset direction of travel, and the operation module of the automatic lawnmower is controlled to perform operations to form a pattern on the first grass path to be worked. The preset direction of travel is clockwise or counterclockwise. The operation module includes either a grass pressing module or a grass cutting module; the automatic lawnmower is detected to have returned to the starting point; the operation module is turned off, and the automatic lawnmower is controlled to move a preset distance along the radial direction to the second grass path to be worked. The radial direction is either centrifugal or centripetal. Since this application controls an automatic lawnmower to operate according to a preset lawn pattern with obstacles as the base point, compared with the prior art of bypassing obstacles, this application can reduce the repetitive and unnecessary use of the automatic lawnmower caused by bypassing obstacles, improve the operating efficiency of the automatic lawnmower, and enhance the integrity and aesthetics of the lawn pattern.

[0259] Please refer to Figure 27, which is a flowchart illustrating the method for generating a lawn pattern according to an embodiment of this application. As shown in Figure 27, the method is applied to the server 120 shown in Figure 1a, and the method includes:

[0260] Step S701: Obtain a virtual map of the target lawn area and identify obstacles in the virtual map.

[0261] In some embodiments, the virtual map can control the movement of an automated lawnmower, determine the target lawn area to be mowed based on the movement trajectory, and synchronize the data corresponding to the target lawn area to the automated lawnmower and the server. In other embodiments, the data corresponding to the target lawn area can also be obtained through monitoring devices near the target lawn area.

[0262] The virtual map includes the boundaries and obstacles of the target lawn area to help the robot plan its path and avoid obstacles. Obstacles refer to facilities, equipment, or objects other than grass in the target lawn area, such as litter, signs, stones, trees, etc.

[0263] Step S702: Generate a target number of concentric stripes in the virtual map, with obstacles as base points and a preset distance as the concentric spacing.

[0264] Each concentric stripe contains a grass path to be worked on, the width of each grass path to be worked on is not less than the working width of the automatic lawnmower, and the preset distance is greater than or equal to the width of the grass path to be worked on.

[0265] In some embodiments, the common center of the plurality of grass paths to be worked is the centroid of the obstacle, and the inner diameter of the grass path with the smallest inner diameter among the plurality of grass paths to be worked is equal to the minimum circumscribed radius of the obstacle.

[0266] The server automatically calculates the minimum circumcircle radius of the obstacles in the virtual map and marks the centroid of the obstacles.

[0267] In some embodiments, generating a target number of concentric stripes in the virtual map with obstacles as base points and a preset distance as the concentric spacing includes: receiving a first number of concentric stripes from a terminal; generating a first number of concentric stripes in the virtual map with the centroid as the center and the preset distance as the concentric spacing; sequentially determining whether there are other obstacles in the concentric stripes along the centrifugal direction from the center; if no other obstacles are detected in the first number of concentric stripes, the target number is equal to the first number; if other obstacles are detected in a certain concentric stripe, the target number is equal to the number of concentric stripes along the centripetal direction of that concentric stripe.

[0268] In this context, the first quantity and the preset distance are user-defined data, with the preset distance being necessary and the first quantity being optional. The first quantity represents the number of stripes the user expects to generate on the target lawn area. The user can set the size of the concentric spacing through the electronic device. For example, as shown in Figure 28a, the pattern setting interface 81 of the electronic device 130 displays a virtual schematic diagram of the target lawn area 4 and prompt information. The virtual schematic diagram contains the centroid marker O of the obstacle 5. The prompt information is used to prompt the user to set the concentric spacing (i.e., the preset distance D) and the number of concentric stripes (i.e., the first quantity) through a trigger operation. Regarding the number of concentric stripes, if the first quantity (e.g., 5) input by the user is received, then 5 concentric stripes are generated on the virtual target lawn area 4 with the centroid O as the center, the minimum circumscribed circle radius R0 as the inner diameter, and the preset distance D as the concentric spacing. Then, the presence of obstacles in the concentric stripes is determined sequentially from the inside out. If there are no obstacles in any of the 5 concentric stripes, then 5 concentric stripes are displayed on the electronic device 130, and the target number is equal to 5; if there is an obstacle in the 3rd stripe of the 5 concentric stripes, then the first 2 concentric stripes are displayed on the electronic device 130, and the target number is equal to 2.

[0269] In some embodiments, it is also possible to determine whether there are obstacles in the concentric stripes from the outside to the inside, similar to the method described above, and will not be repeated here.

[0270] Among them, the concentric geometric pattern formed by the target number of concentric stripes in the target lawn area can be a complete geometric pattern (as shown in Figure 28a) or a part of the concentric geometric pattern (as shown in Figure 28b).

[0271] As can be seen, in this embodiment, users can flexibly adjust the concentric spacing and the number of concentric stripes according to different scenarios and needs, thereby achieving precise control over pattern formation. This flexibility and controllability allows users to customize different patterns according to specific circumstances to meet different needs.

[0272] In some embodiments, generating a target number of concentric stripes in the virtual map with obstacles as base points and a preset distance as the concentric spacing includes: generating a second number of concentric stripes in the virtual map with the centroid as the center and the preset distance as the concentric spacing, wherein the longest axis of the second number of stripes is less than or equal to the shortest axis of the target lawn area; sequentially determining whether there are other obstacles in the concentric stripes along the centrifugal direction from the center; if no other obstacles are detected in the second number of concentric stripes, then the target number is equal to the second number; if other obstacles are detected in a certain concentric stripe, then the target number is equal to the number of concentric stripes along the centripetal direction of that concentric stripe.

[0273] In this context, the first quantity and preset distance are user-defined data, with the preset distance being necessary and the first quantity being optional. The first quantity represents the number of stripes the user expects to generate on the target lawn area. The user can set the concentric spacing through the electronic device. For example, as shown in Figure 28c, the pattern setting interface 81 of the electronic device 130 displays a virtual schematic diagram of the target lawn area 4 and prompts. The virtual schematic diagram contains the centroid marker O of the obstacle 5, and the prompts are used to guide the user to set the concentric spacing and the number of concentric stripes through a trigger operation. Regarding the number of concentric stripes, if the user-inputted first quantity is not received, the server designs the maximum concentric geometry that meets the requirements on the virtual map based on the target lawn area. The main requirements are: there are no obstacles in the formed concentric geometry, and the longest axis of the concentric geometry is shorter than the shortest axis of the target lawn area, so that the concentric geometry is completely contained within the target lawn area. The specific setup process is shown in Figure 28c. Set the concentric spacing D = 0.5 and the first quantity to empty. Then, with the centroid as the center, automatically generate a second quantity (e.g., 5) of concentric stripes according to the concentric spacing D and the size of the target lawn area. Then, check whether there are obstacles in the concentric stripes from the inside out. If there are no obstacles in any of the 5 concentric stripes, then display 5 concentric stripes on the electronic device 130, and the target quantity is equal to 5. If there is an obstacle in the 3rd stripe of the 5 concentric stripes, then display the first 2 concentric stripes on the electronic device 130, and the target quantity is equal to 2.

[0274] In some embodiments, it is also possible to determine whether there are obstacles in the concentric stripes from the outside to the inside, similar to the method described above, and will not be repeated here.

[0275] As can be seen, in this embodiment, when a user needs to set a large number of patterns for a target lawn area, it is not necessary to set a specific number of concentric stripes. The server will automatically calculate the maximum number of concentric stripes that meet the requirements in the target lawn area, which can save the user's time and effort and improve design efficiency.

[0276] Step S703: Obtain the operating mode of the automatic lawnmower on each grass path to be operated, and obtain the operating parameters corresponding to the operating mode.

[0277] The operation mode includes a grass-pressing mode or a grass-cutting mode, and the operation parameters include at least a preset travel direction, which includes a clockwise direction or a counterclockwise direction.

[0278] In some embodiments, obtaining the operating mode of the automatic lawnmower on each grass path to be operated and obtaining the corresponding operating parameters of the operating mode includes: obtaining multiple preset pattern templates, the preset pattern templates including the operating mode and its corresponding operating parameters; receiving a response to one of the preset pattern templates, and configuring the operating mode and its corresponding operating parameters for each grass path to be operated according to the preset template.

[0279] Users can obtain the operation mode and operation parameters through electronic devices. For the preset travel direction, users can set it by selecting a preset template on the electronic device. The preset template includes the grass-pressing direction of each concentric stripe. Please see Table 1, which shows the setting parameters of several preset templates provided in the embodiments of this application. It is assumed that the number of concentric stripes is 10, X and Y represent the travel direction, where X represents the automatic lawnmower moving clockwise and Y represents the automatic lawnmower moving counterclockwise. See Figure 29. Example 1 shows changing the travel direction every one revolution; Example 2 shows changing the travel direction every two revolutions; Example 3 shows alternating clockwise and counterclockwise directions for one revolution; Example 4 shows alternating clockwise and counterclockwise directions for two revolutions; Example 5 shows all 10 concentric stripes traveling clockwise.

[0280] Table 1

[0281] In some embodiments, after the user sets the parameters on the pattern setting interface 81 and clicks the confirmation control on the pattern setting interface 81, the user is redirected to the operation parameter setting interface 82, which includes multiple preset templates. When the user selects one of the preset templates, the electronic device 130 sends the selected preset template to the server 120. The server 120 automatically adapts the grass-pressing direction of each concentric stripe in the target number of concentric stripes according to the pattern of the travel direction in the preset template, realizing a one-click configuration function. It should be noted that when the user selects any template in Examples 1-4, the default operation mode is grass-pressing mode; when the user selects Example 5 or Example 6, the default operation mode is grass-cutting mode, and the operation module is determined to be the grass-cutting module. Of course, in other embodiments, the user can directly set the operation mode.

[0282] It should be noted that Examples 1-6 in Table 1 above are only a few examples provided in this application. Of course, other template shapes may also be included, but no specific limitations are made here.

[0283] In some embodiments, obtaining the operating mode of the automatic lawnmower on each grass path to be operated and obtaining the corresponding operating parameters of the operating mode includes: sending a configuration instruction to a user terminal, the configuration instruction being used to indicate the operating mode and its corresponding operating parameters; receiving a configuration response from the user terminal, and configuring the operating mode and its corresponding operating parameters for each grass path to be operated according to the configuration response.

[0284] Users can also configure the preset travel direction of each concentric stripe individually, as shown in Figure 29. They can also click the custom control on the operation parameter setting interface 82 to customize the operation information of each concentric stripe.

[0285] As can be seen, in this embodiment, when the user's desired pattern is not present in the preset template, the user can configure the operation information of each concentric stripe individually to meet the user's personalized needs and improve the user experience.

[0286] Step S704: Generate the preset pattern on the target number of grass paths to be operated according to the operation mode and its corresponding operation parameters, and send the preset pattern to the automatic lawnmower.

[0287] In some embodiments, the operation mode is a grass pressing mode, and at least one of the target number of grass paths to be operated has a preset travel direction that is different from the preset travel direction of the other grass paths to be operated.

[0288] In some embodiments, the operation mode is a mowing mode, and the preset travel mode of each of the target number of grass paths to be operated can be the same or different.

[0289] In some embodiments, when the preset travel mode of each of the target number of grass paths to be worked is the same, the working parameters also include the mowing height, and the mowing height of at least one of the target number of grass paths to be worked is different from the mowing height of the other grass paths to be worked.

[0290] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the controller includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0291] Similar to the embodiments shown above, please refer to Figure 30. Figure 30 is a functional unit block diagram of a lawn mowing path generation device provided in this application embodiment. As shown in Figure 30, the lawn mowing path generation device 900 includes: a first receiving unit 901, used to acquire a lawn mowing map and machine data, wherein the lawn mowing map is used to indicate the spatial information of a target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawn mower; a first processing unit 902, used to determine multiple obstacle areas based on the lawn mowing map, wherein a single obstacle area is an area in the target lawn area where the automatic lawn mower is prohibited from passing; to determine at least one concentric pattern based on the multiple obstacle areas and the machine data, wherein each concentric pattern surrounds a corresponding at least one obstacle area; and to determine a target lawn mowing path based on the at least one concentric pattern.

[0292] In one possible embodiment, in determining at least one concentric pattern based on the plurality of obstacle areas and the machine data, the first processing unit 902 may be configured to: determine at least one target obstacle area based on the plurality of obstacle areas and the machine data, wherein the area between any two target obstacle areas in the at least one target obstacle area allows the automatic lawnmower to pass; and determine at least one concentric pattern based on the at least one target obstacle area.

[0293] In one possible embodiment, in determining at least one target obstacle region based on the plurality of obstacle regions and the machine data, the first processing unit 902 may be configured to: determine at least one spacing data corresponding to each obstacle region among the plurality of obstacle regions, the at least one spacing data being used to characterize the distance between the corresponding obstacle region and at least one adjacent obstacle region; and determine at least one target obstacle region based on the at least one spacing data corresponding to each obstacle region and the machine data, wherein each target obstacle region among the at least one target obstacle region is an independent obstacle region or a merged obstacle region.

[0294] In one possible embodiment, the machine data includes the machine width. Regarding determining at least one target obstacle region based on the at least one spacing data corresponding to each obstacle region and the machine data, the first processing unit 902 may be configured to: perform the following processing operation for each obstacle region: determine whether there is target spacing data among the at least one spacing data corresponding to the currently processed obstacle region, the target spacing data being spacing data smaller than the machine width among the at least one spacing data; if not, determine the currently processed obstacle region as the independent obstacle region; if so, determine the merged obstacle region based on the set of the currently processed obstacle region and the obstacle regions corresponding to the target spacing data; repeat the above operation until all the multiple obstacle regions are processed to obtain the at least one target obstacle region.

[0295] In one possible embodiment, in determining at least one concentric pattern based on the at least one target obstacle region, the first processing unit 902 may be configured to: determine the center point of each target obstacle region in the at least one target obstacle region as a pattern center point, obtaining at least one pattern center point, the at least one pattern center point corresponding one-to-one with the at least one target obstacle region; determine the region radius corresponding to each target obstacle region, the region radius being the radius of the smallest circle completely enclosing the corresponding target obstacle region; determine the limiting radius corresponding to each target obstacle region, the limiting radius being the distance between the pattern center point corresponding to the corresponding target obstacle region and the pattern center point corresponding to the nearest target obstacle region, or the distance between the pattern center point corresponding to the corresponding target obstacle region and the boundary of the nearest target lawn region; and determine the concentric pattern corresponding to each target obstacle region based on the region radius and the limiting radius, obtaining the at least one concentric pattern.

[0296] In one possible embodiment, in determining the concentric pattern corresponding to each target obstacle region based on the region radius and the limit radius corresponding to each target obstacle region to obtain the at least one concentric pattern, the first processing unit 902 may be configured to: determine the target range corresponding to each target obstacle region based on the region radius and the limit radius corresponding to each target obstacle region, wherein the target range is the range between the corresponding target obstacle range and adjacent target obstacle regions that allows the automatic lawnmower to pass; obtain the concentric spacing corresponding to each target obstacle region; and determine the concentric pattern corresponding to each target obstacle region based on the concentric spacing and the target range to obtain the at least one concentric pattern.

[0297] In one possible embodiment, in determining the concentric pattern corresponding to each target obstacle region based on the concentric spacing and the target range to obtain the at least one concentric pattern, the first processing unit 902 may be configured to: obtain the number of concentricities corresponding to each target obstacle region, wherein the sum of the product of the number of concentricities and the concentric spacing corresponding to each target obstacle region and the product of the number of concentricities and the concentric spacing corresponding to the adjacent target obstacle range is within the corresponding target range; obtain the concentric pattern corresponding to each target obstacle region; and determine the concentric pattern corresponding to each target obstacle region based on the concentric pattern, the concentric spacing, and the number of concentricities to obtain the at least one concentric pattern.

[0298] In other embodiments of this application, the first receiving unit 901 is further configured to acquire a mowing map of the target lawn area and machine data of the automatic lawnmower; please refer to FIG31, FIG31 is a functional unit block diagram of another mowing path generation device provided in an embodiment of this application. As shown in FIG31, the mowing path generation device 900 further includes: an obstacle determination unit 903, configured to determine obstacle information of multiple obstacles in the target lawn area according to the mowing map; a pattern determination unit 904, configured to determine a target pattern according to the obstacle information and machine data, wherein the target pattern is composed of multiple similar graphics with the center of the target lawn area as the graphic center, and the interval between any two adjacent graphic intersection points in the same direction is the same, and the graphic intersection point is the intersection point formed by the graphic center intersecting with multiple similar graphics in any direction; and an execution unit 905, configured to perform mowing or matting operations according to the target pattern to generate the target pattern in the target lawn area.

[0299] In one possible embodiment, machine data includes machine width, and obstacle information includes obstacle positions. Regarding determining the target pattern based on the obstacle information and machine data, the pattern determination unit 904 can be used to: determine a set of distance constraints based on the center position of the target lawn area and the mowing map, the set of distance constraints including a correspondence between reference directions and reference distances, where the reference distance is the maximum distance between the center position and the boundary of the target lawn area in the corresponding reference direction; determine the distance difference between any two adjacent obstacles and the center position based on the obstacle positions, and determine a base distance, where the base distance is the minimum distance between each obstacle and the center position; if at least one distance difference is less than or equal to the machine width, determine the maximum distance difference less than or equal to the machine width as the target interval distance, which characterizes the minimum interval distance between the boundaries of two adjacent similar patterns; determine a range of reference rotations and a reference pattern based on the target interval distance, the base distance, and the set of distance constraints, where each range of reference rotations corresponds to a reference pattern, which indicates the shape of the similar patterns; and determine a target pattern adapted to the automatic lawnmower based on the range of reference rotations, the target interval distance, and multiple reference patterns.

[0300] In one possible embodiment, the obstacle information further includes contour information; before determining the reference circle range based on the target interval distance, the base distance, and the distance limit set, and after determining the base distance, the pattern determination unit 904 may further be used to: if all distance differences are greater than the machine width, determine the smallest distance difference as the reference interval distance, and determine the reference obstacle corresponding to the smallest distance difference as the first obstacle and the second obstacle; perform an edge curvature analysis operation on the contour information corresponding to the reference obstacle, determine the first curvature value corresponding to the first obstacle and the second curvature value corresponding to the second obstacle, wherein the first curvature value is the edge curvature value with the largest value relative to the side of the second obstacle, and the second curvature value is the edge curvature value with the largest value relative to the side of the first obstacle; if there is a first curvature value and / or a second curvature value greater than a preset curvature value, determine the safety interval distance based on the first curvature value and / or the second curvature value; and determine the target interval distance based on the reference interval distance and the safety interval distance.

[0301] In one possible embodiment, in determining the reference circle range and reference pattern based on the target interval distance, the base distance, and the set of distance limits, the pattern determination unit 904 can be used to: determine an adjustable distance range based on the set of distance limits and a preset minimum turning radius, wherein the maximum value of the adjustable distance in the adjustable distance range is the difference between the maximum value of the reference distance and the minimum turning radius, the minimum value of the adjustable distance is the difference between the minimum value of the reference distance and the base distance, and the minimum turning radius is the minimum radius of the trajectory circle formed by the automatic lawnmower during operation; determine the reference circle range based on the maximum and minimum multiples of the target interval distance included in the adjustable distance range; determine the adjustable parameter type based on a preset user preference type; and determine the reference pattern corresponding to each reference circle based on the user preference type and the adjustable parameter type, wherein the value of the adjustment parameter corresponding to the adjustment parameter type is associated with the reference circle number.

[0302] In one possible embodiment, the user preference type is used to indicate any of the following graphic types: ellipse, polygon, wavy; and the adjustable parameter type is determined according to the preset user preference type, including: if the user preference type is ellipse, then the adjustable parameter type is determined to be the eccentricity of the reference graphic; or, if the user preference type is polygon, then the adjustable parameter type is determined to be the number of sides of the reference graphic; or, if the user preference type is wavy, then the adjustable parameter type is determined to be the amplitude and / or frequency of the boundary of the reference graphic.

[0303] In one possible embodiment, the pattern determination unit 904 may be configured to: generate multiple reference patterns based on the reference number of revolutions, the reference pattern, and the target interval distance, in addition to the machine data including the current device position, and determine the target pattern adapted to the automatic lawnmower based on the reference number of revolutions, the reference pattern, and the target interval distance; determine the corresponding reference path length based on each reference pattern, obstacle position, current device position, and contour information, wherein the reference path length is the path length along which the automatic lawnmower moves when generating the reference pattern in the target lawn area; determine the reference power consumption corresponding to each reference pattern based on a preset operating power consumption and the multiple reference path lengths, wherein the operating power consumption indicates the power consumed by the automatic lawnmower while maintaining its operating state and continuously moving a preset distance; and determine the reference pattern corresponding to the reference power consumption that is less than or equal to the device power consumption of the automatic lawnmower and whose value is closest to the device power consumption as the target pattern.

[0304] In one possible embodiment, in determining the corresponding reference path length based on each reference pattern, obstacle position, current device position, and contour information, the pattern determination unit 904 may be configured to: determine the operation start position located on the reference pattern that is closest to the current device position based on the currently processed reference pattern; determine the distance between the operation start position and the current device position as a first path length, and determine a second path length based on the reference pattern, the second path length being the shortest path length required for the automatic lawnmower to move along the reference pattern starting from the operation start position; if a target obstacle overlapping with the reference pattern is determined based on the obstacle position, then a third path length is determined based on the contour information corresponding to the target obstacle, the third path length being the path length required for the automatic lawnmower to travel around the edge of the obstacle; and determine the sum of the first path length, the second path length, and the third path length as the reference path length.

[0305] In other embodiments of this application, the first receiving unit 901 is used to obtain a first distance between the center position of the target lawn area and the centroid of each of the plurality of obstacles on the target lawn area;

[0306] The first 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;

[0307] In this system, each of the multiple concentric patterns is centered on the center of the target lawn area, and the largest concentric pattern does not exceed the boundary of the target lawn area. 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 for the automatic lawnmower to cut grass. 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.

[0308] 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 area, the first processing unit 902 can be used to: set concentric patterns in ascending order of area based on the center position of the target lawn area; 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.

[0309] In a feasible embodiment, when setting the first concentric pattern, the first 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.

[0310] In a feasible embodiment, when setting the first concentric pattern, the first 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.

[0311] In a feasible embodiment, when setting the y-th concentric pattern, the first 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 of the y-th concentric pattern and the center position 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.

[0312] In a feasible embodiment, when setting the y-th concentric pattern, the first 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 and the center position of the y-th concentric pattern to be not 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.

[0313] 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.

[0314] 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, and will not be repeated here.

[0315] In the case of using integrated units, as shown in FIG32, FIG32 is a functional unit block diagram of another lawn path generation device provided in an embodiment of the present application. In FIG32, the lawn path generation device 900 includes: a processing module 1012 and a communication module 1011. The processing module 1012 is used to control and manage the operation of the lawn path generation device 900, for example, to execute the steps of the first receiving unit 901 and the first processing unit 902, and / or to execute other processes of the technology described herein. The communication module 1011 is used to support the interaction between the lawn path generation device 900 and other devices. As shown in FIG10, the lawn path generation device 900 may further include a storage module 1013, which is used to store the program code and data of the lawn path generation device 900.

[0316] 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 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 1011 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 1013 can be a memory.

[0317] 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. All of the above-mentioned lawn mowing path generation devices 900 can execute the lawn mowing path generation method shown in Figure 3.

[0318] 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. The 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 described in 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. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the 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. The 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. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0319] Figure 33 is a structural block diagram of an electronic device provided in an embodiment of this application. As shown in Figure 33, the electronic device 130 may include one or more of the following components: a processing device 210 and a storage device 220 coupled to the processing device 210, wherein the storage device 220 may store one or more computer programs 221, and the one or more computer programs 221 may be configured to implement the methods described in the above embodiments when executed by one or more processing devices 210. The electronic device 130 also includes a communication interface (not shown in Figure 33), and the storage device 220, the processing device 210 and the communication interface are interconnected and perform communication between them. The electronic device 130 may be the electronic device 130 in the above embodiments.

[0320] Processing device 210 may include one or more processing cores. Processing device 210 connects to various parts within electronic device 130 using various interfaces and lines, and performs various functions and processes data of electronic device 130 by running or executing instructions, programs, code sets, or instruction sets stored in storage device 220, and by calling data stored in storage device 220. Optionally, processing device 210 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processing device 210 may integrate one or more of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into processing device 210 and may be implemented separately using a communication chip.

[0321] Storage device 220 may include random access memory (RAM) or read-only memory (ROM). Storage device 220 can be used to store instructions, programs, code, code sets, or instruction sets. Storage device 220 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 130 during use.

[0322] It is understood that the electronic device 130 may include more or fewer structural elements than those shown in the above structural block diagram, such as a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, sensors, etc., without limitation herein. Embodiments of this application provide a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the steps of the method described in any possible embodiment.

[0323] This application also provides a computer storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements some or all of the steps of any of the methods described in the above method embodiments.

[0324] 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.

[0325] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0326] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; 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, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0327] The unit described as a separate component may or may not be physically separate. The component shown as a unit may or may not be a physical unit; that is, it 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 according to actual needs.

[0328] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can be physically included separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0329] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: a USB flash drive, a portable hard disk, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM), etc., which are various media that can store program code.

[0330] While this application discloses the above information, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of this application, and can make various alterations and modifications, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of this application.

Claims

1. A method for generating lawn mowing paths, characterized in that, The method includes: Acquire a lawn mowing map and machine data, wherein the lawn mowing map is used to indicate the spatial information of the target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawn mower; Based on the mowing map, multiple obstacle areas are identified, and a single obstacle area is a region within the target lawn area where the automatic lawnmower is prohibited from passing. At least one concentric pattern is determined based on the plurality of obstacle regions and the machine data, wherein each concentric pattern surrounds a corresponding at least one obstacle region. The target mowing path is determined based on the at least one concentric pattern.

2. The method according to claim 1, characterized in that, Determining at least one concentric pattern based on the plurality of obstacle regions and the machine data includes: Based on the plurality of obstacle areas and the machine data, at least one target obstacle area is determined, wherein the area between any two target obstacle areas in the at least one target obstacle area allows the automatic lawnmower to pass; At least one concentric pattern is determined based on the at least one target obstacle region.

3. The method according to claim 2, characterized in that, Determining at least one target obstacle region based on the plurality of obstacle regions and the machine data includes: Determine at least one spacing data corresponding to each of the plurality of obstacle regions, wherein the at least one spacing data is used to characterize the distance between the corresponding obstacle region and at least one adjacent obstacle region; Based on the at least one spacing data corresponding to each obstacle area and the machine data, at least one target obstacle area is determined, wherein each target obstacle area is an independent obstacle area or a merged obstacle area.

4. The method according to claim 3, characterized in that, The machine data includes the machine width. Determining at least one target obstacle region based on the at least one spacing data corresponding to each obstacle region and the machine data includes: For each obstacle region, the following processing operations are performed: Determine whether there is target spacing data in the at least one spacing data corresponding to the currently processed obstacle area, wherein the target spacing data is the spacing data in the at least one spacing data that is smaller than the machine width; If not, then the currently processed obstacle region is determined to be the independent obstacle region; If so, the merged obstacle region is determined based on the set of obstacle regions corresponding to the currently processed obstacle region and the target distance data; Repeat the above operation until all the multiple obstacle areas have been processed to obtain the at least one target obstacle area.

5. The method according to claim 4, characterized in that, Determining at least one concentric pattern based on the at least one target obstacle region includes: The center point of each target obstacle region in the at least one target obstacle region is determined as the pattern center point to obtain at least one pattern center point, and the at least one pattern center point corresponds one-to-one with the at least one target obstacle region; Determine the radius of the region corresponding to each target obstacle region, wherein the radius of the region is the radius of the smallest circle that completely surrounds the corresponding target obstacle region; Determine the limit radius corresponding to each target obstacle area, wherein the limit radius is the distance between the pattern center point of the corresponding target obstacle area and the pattern center point of the nearest target obstacle area, or the distance between the pattern center point of the corresponding target obstacle area and the boundary of the nearest target lawn area. Based on the region radius and the limit radius corresponding to each target obstacle region, a concentric pattern corresponding to each target obstacle region is determined to obtain at least one concentric pattern.

6. The method according to claim 5, characterized in that, The step of determining the concentric pattern corresponding to each target obstacle region based on the region radius and the limit radius corresponding to each target obstacle region, to obtain the at least one concentric pattern, includes: Based on the area radius and the limit radius corresponding to each target obstacle area, the target range corresponding to each target obstacle area is determined, and the target range is the range between the corresponding target obstacle area and the adjacent target obstacle areas where the automatic lawnmower can pass. Obtain the concentric spacing corresponding to each target obstacle region; Based on the concentric spacing and target range corresponding to each target obstacle area, a concentric pattern corresponding to each target obstacle area is determined to obtain at least one concentric pattern.

7. The method according to claim 6, characterized in that, The step of determining the concentric pattern corresponding to each target obstacle region based on the concentric spacing and the target range for each target obstacle region, to obtain the at least one concentric pattern, includes: Obtain the number of concentric points corresponding to each target obstacle region, and the sum of the product of the number of concentric points and the concentric distance corresponding to each target obstacle region and the product of the number of concentric points and the concentric distance corresponding to adjacent target obstacle regions is within the corresponding target range; Obtain the concentric pattern corresponding to each target obstacle region; The concentric pattern corresponding to each target obstacle area is determined based on the concentric pattern, the concentric spacing, and the number of concentric points, thus obtaining at least one concentric pattern.

8. The method according to claim 1, characterized in that, The method further includes: Based on the mowing map, determine the obstacle information of multiple obstacles in the target lawn area corresponding to the mowing map; Based on the obstacle information and the machine data, a target pattern is determined. The target pattern consists of multiple similar graphics with the center of the target lawn area as the graphic center. The interval between any two adjacent graphic intersection points in the same direction is the same. The graphic intersection point is the intersection point formed by the graphic center intersecting with the multiple similar graphics in any direction. Perform mowing or matting operations according to the target pattern to generate the target pattern in the target lawn area.

9. The method according to claim 8, characterized in that, The machine data includes the machine width, and the obstacle information includes the obstacle position; determining the target pattern based on the obstacle information and the machine data includes: Based on the center location of the target lawn area and the mowing map, a set of distance constraints is determined. The set of distance constraints includes the correspondence between reference directions and reference distances. The reference distance is the maximum distance between the center location and the boundary of the target lawn area in the corresponding reference direction. Based on the location of the obstacle, determine the distance difference between any two adjacent obstacles and the center location, and determine a base distance, which is the minimum value among the distances between each obstacle and the center location; If at least one of the distance differences is less than or equal to the machine width, then the maximum value among the distance differences that are less than or equal to the machine width is determined as the target interval distance, which is used to characterize the minimum interval distance between the boundaries of two adjacent similar graphics; Based on the target interval distance, the base distance, and the distance limit set, a reference circle number range and a reference graphic are determined. Each reference circle number in the reference circle number range corresponds to a reference graphic, and the reference graphic is used to indicate the shape of the similar graphic. The target pattern adapted to the automatic lawnmower is determined based on the reference circle range, the target interval distance, and multiple reference patterns.

10. The method according to claim 9, characterized in that, The obstacle information also includes contour information; before determining the reference lap range based on the target interval distance, the base distance, and the distance limit set, and after determining the base distance, the method further includes: If all the distance differences are greater than the machine width, the distance difference with the smallest value is determined as the reference interval distance, and the reference obstacle corresponding to the distance difference with the smallest value is determined as the first obstacle and the second obstacle. An edge curvature analysis operation is performed on the contour information corresponding to the reference obstacle to determine a first curvature value corresponding to the first obstacle and a second curvature value corresponding to the second obstacle. The first curvature value is the edge curvature value with the largest value of the first obstacle relative to the side of the second obstacle, and the second curvature value is the edge curvature value with the largest value of the second obstacle relative to the side of the first obstacle. If the first curvature value and / or the second curvature value are greater than the preset curvature value, then a safe interval distance is determined based on the first curvature value and / or the second curvature value. The target interval distance is determined based on the reference interval distance and the safety interval distance.

11. The method according to claim 9 or 10, characterized in that, The step of determining the reference lap range and reference pattern based on the target interval distance, the base distance, and the distance limit set includes: Based on the distance limit set and the preset minimum turning radius, an adjustable distance range is determined. The maximum value of the adjustable distance within the adjustable distance range is the difference between the maximum value of the reference distance and the minimum turning radius. The minimum value of the adjustable distance is the difference between the minimum value of the reference distance and the base distance. The minimum turning radius is the minimum radius of the trajectory circle formed by the automatic lawnmower during operation. The reference lap range is determined based on the maximum and minimum multiples of the target interval distance included in the adjustable distance range; The types of adjustable parameters are determined based on the preset user preference types; Based on the user preference type and the adjustable parameter type, the reference graphic corresponding to each reference lap number is determined, and the value of the adjustment parameter corresponding to the adjustment parameter type is associated with the reference lap number.

12. The method according to claim 11, characterized in that, The user preference type is used to indicate any of the following graphic types: ellipse, polygon, or wavy; the determination of the adjustable parameter type based on the preset user preference type includes: If the user preference type is elliptical, then the adjustable parameter type is determined to be the eccentricity of the reference graph; or, If the user preference type is polygon, then the adjustable parameter type is determined to be the number of sides of the reference graphic; or, If the user preference type is wavy, then the adjustable parameter type is determined to be the amplitude and / or frequency of the boundary of the reference pattern.

13. The method according to claim 10, characterized in that, The machine data also includes the current device location and device battery level. Determining the target pattern adapted to the automatic lawnmower based on the reference circle range, the target interval distance, and multiple reference patterns includes: Multiple reference patterns are generated based on the reference number of circles, the reference pattern, and the target interval distance; Based on each reference pattern, the obstacle position, the current device position, and the contour information, a corresponding reference path length is determined. The reference path length is the path length along which the automatic lawnmower moves when generating the reference pattern in the target lawn area. Based on the preset power consumption for operation and the lengths of multiple reference paths, the reference power consumption corresponding to each reference pattern is determined. The power consumption for operation is used to indicate the power consumed by the automatic lawnmower while maintaining the operation state and continuously moving a preset distance. The target pattern is the reference pattern that corresponds to the reference power consumption that is less than or equal to the power consumption of the automatic lawnmower and is closest to the reference power consumption value of the automatic lawnmower.

14. The method according to claim 13, characterized in that, The step of determining the corresponding reference path length based on each reference pattern, the obstacle position, the current device position, and the contour information includes: Based on the currently processed reference pattern, determine the operation start position located on the reference pattern that is closest to the current device position; The distance between the starting position of the operation and the current position of the device is determined as the first path length, and a second path length is determined according to the reference pattern. The second path length is the shortest path length required for the automatic lawnmower to move along the reference pattern starting from the starting position of the operation. If a target obstacle that coincides with the reference pattern is determined based on the location of the obstacle, then the third path length is determined based on the contour information corresponding to the target obstacle. The third path length is the path length required for the automatic lawnmower to travel around the edge of the obstacle. The sum of the first path length, the second path length, and the third path length is determined as the reference path length.

15. The method for generating mowing paths as described in claim 1, characterized in that, The method includes: Obtain the first distance between the center position of the target lawn area and the centroid of each of the multiple obstacles in the target lawn area; Based on the first distance corresponding to each obstacle and the center position of the target lawn area, 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 area, and the largest concentric pattern does not exceed the boundary of the target lawn area. 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 automatic lawnmower. 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.

16. The method according to claim 15, characterized in that, The method involves setting multiple concentric patterns based on a first distance to each obstacle and the center position of the target lawn area, including: Centered on the center of the target lawn area, concentric patterns are set up in ascending order of size; 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.

17. The method according to claim 16, 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.

18. The method according to claim 16 or 17, 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.

19. The method according to any one of claims 16-18, 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.

20. The method according to any one of claims 16-19, 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.

21. The method according to any one of claims 16-20, 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.

22. The method for generating mowing paths according to claim 1, characterized in that, The method includes: The automatic lawnmower is controlled to perform operations on multiple grass paths to form a preset pattern. The preset pattern is a concentric geometric shape containing multiple concentric stripes with obstacles as base points and preset distances as concentric intervals. Each concentric stripe contains a grass path to be worked on. The automatic lawnmower is controlled to perform the following steps on each grass path to be worked on: The automatic lawnmower is controlled to move from the starting point of the first grass path to be worked in a preset direction, and the working module of the automatic lawnmower is controlled to perform work to form a pattern on the first grass path to be worked. The preset direction of travel is either clockwise or counterclockwise, and the working module includes one of a grass pressing module or a grass cutting module. The automatic lawnmower was detected to have returned to the starting point. The operation module is turned off, and the automatic lawnmower is controlled to move the preset distance along the radial direction to the second grass-cutting path, wherein the radial direction is either the centrifugal direction or the centripetal direction.

23. The method according to claim 22, characterized in that, The operation module includes a grass pressing module, and at least one of the grass tracks to be operated has a preset travel direction that is different from the preset travel directions of the other grass tracks.

24. The method according to claim 22, characterized in that, The operation module includes a grass-cutting module, and the preset travel direction of each of the multiple grass-cutting paths can be the same or different.

25. The method according to claim 24, characterized in that, The preset travel direction of each grass path to be worked is the same, and the mowing height of at least one grass path to be worked is different from the mowing height of the other grass paths to be worked.

26. The method according to claim 22, characterized in that, The common center of the plurality of grass paths to be worked is the centroid of the obstacle, and the inner diameter of the grass path with the smallest inner diameter among the plurality of grass paths to be worked is greater than or equal to the minimum circumscribed circle radius of the obstacle.

27. The method according to claim 26, characterized in that, For the same preset pattern, the radial directions are the same, and the radial direction is either the centripetal direction or the centrifugal direction. The method further includes: If the first grass path to be worked is the grass path with the smallest inner diameter, then the radial direction is the centrifugal direction; If the first grass path to be worked on is the grass path with the largest inner diameter, then the radial direction is the centripetal direction.

28. The method according to claim 22, characterized in that, The width of each grass path to be worked is greater than or equal to the working width of the automatic lawnmower, and the preset distance is greater than or equal to the width of the grass path to be worked.

29. The method according to claim 22, characterized in that, The method includes: Obtain a virtual map of the target lawn area and identify obstacles in the virtual map; In the virtual map, a target number of concentric stripes are generated with obstacles as base points and a preset distance as the concentric spacing. Each concentric stripe contains a grass path to be worked on. The width of each grass path to be worked on is not less than the working width of the automatic lawnmower. The preset distance is greater than or equal to the working width. The automatic lawnmower is configured to operate on each grass path and the corresponding operating parameters are obtained. The operating mode includes a grass pressing mode or a grass mowing mode. The operating parameters include at least a preset travel direction, which includes a clockwise direction or a counterclockwise direction. The preset pattern is generated on a target number of grass paths to be worked according to the operation method and its corresponding operation parameters, and the preset pattern is sent to the automatic lawnmower.

30. The method according to claim 29, characterized in that, The common center of the plurality of grass paths to be worked is the centroid of the obstacle, and the inner diameter of the grass path with the smallest inner diameter among the plurality of grass paths to be worked is equal to the minimum circumscribed radius of the obstacle.

31. The method according to claim 30, characterized in that, The step of generating a target number of concentric stripes in the virtual map, using obstacles as base points and preset distances as concentric intervals, includes: Receive the first number of concentric stripes from the terminal; In the virtual map, a first number of concentric stripes are generated with the centroid as the center and the preset distance as the concentric spacing. Determine whether there are other obstacles in the concentric stripes sequentially from the center along the centrifugal direction; If no other obstacles are detected in the first number of concentric stripes, then the target number is equal to the first number; If an obstacle is detected in a concentric stripe, the number of targets is equal to the number of concentric stripes along the centripetal direction of that concentric stripe.

32. The method according to claim 30, characterized in that, The step of generating a target number of concentric stripes in the virtual map, using obstacles as base points and preset distances as concentric intervals, includes: In the virtual map, a second number of concentric stripes are generated with the centroid as the center and the preset distance as the concentric spacing, and the longest axis of the second number of stripes is less than or equal to the shortest axis of the target lawn area; Determine whether there are other obstacles in the concentric stripes sequentially from the center along the centrifugal direction; If no other obstacle is detected in the second number of concentric stripes, then the target number is equal to the second number; If an obstacle is detected in a concentric stripe, the number of targets is equal to the number of concentric stripes along the centripetal direction of that concentric stripe.

33. The method according to claim 29, characterized in that, The step of acquiring the operating mode of the automatic lawnmower on each grass path to be worked, and acquiring the operating parameters corresponding to the operating mode, includes: Obtain multiple preset pattern templates, wherein the preset pattern target includes the operation method and its corresponding operation parameters; Upon receiving a response to one of the preset pattern templates, configure the operation mode and corresponding operation parameters for each grass path to be operated according to the preset template.

34. The method according to claim 29, characterized in that, The step of obtaining the operating mode of the automatic lawnmower on each grass path to be worked, and obtaining the operating parameters corresponding to the operating mode, includes: Send a configuration instruction to the user terminal, the configuration instruction being used to indicate the operation mode and its corresponding operation parameters; Upon receiving a configuration response from the user terminal, the operation mode and corresponding operation parameters for each grass path to be operated are configured according to the configuration response.

35. The method according to claim 33 or 34, characterized in that, The operation mode is the grass pressing mode, and at least one of the target number of grass paths to be operated has a preset travel direction that is different from the preset travel direction of the other grass paths to be operated.

36. The method according to claim 33 or 34, characterized in that, The operation mode is the grass mowing mode, and the preset travel mode of each grass path to be operated in the target number of grass paths can be the same or different.

37. The method according to claim 36, characterized in that, When the preset travel mode of each of the target number of grass paths to be operated is the same, the operation parameters also include the mowing height, and the mowing height of at least one of the target number of grass paths to be operated is different from the mowing height of the other grass paths to be operated.

38. A lawn mowing path generation device, characterized in that, The device includes: The first receiving unit is used to acquire a lawn mowing map and machine data. The lawn mowing map is used to indicate the spatial information of the target lawn area, and the machine data is used to characterize the configuration parameters of the automatic lawn mower. A first processing unit is configured to: determine multiple obstacle areas based on the mowing map, wherein a single obstacle area is an area in the target lawn area where the automatic lawnmower is prohibited from passing; determine at least one concentric pattern based on the multiple obstacle areas and the machine data, wherein each concentric pattern surrounds a corresponding at least one obstacle area; and determine a target mowing path based on the at least one concentric pattern.

39. The apparatus according to claim 38, characterized in that, The device further includes: An obstacle determination unit is used to determine obstacle information of multiple obstacles in the target lawn area based on the lawn mowing map. The pattern determination unit is used to determine a target pattern based on the obstacle information and the machine data. The target pattern is composed of multiple similar graphics with the center of the target lawn area as the graphic center. The interval between any two adjacent graphic intersection points in the same direction is the same. The graphic intersection point is the intersection point formed by the graphic center intersecting with the multiple similar graphics in any direction. An execution unit is configured to perform mowing or matting operations according to the target pattern to generate the target pattern in the target lawn area.

40. The apparatus according to claim 38, characterized in that, The device further includes: The first receiving unit is further configured to obtain a first distance between the center position of the target lawn area and the centroid of each of the multiple obstacles in the target lawn area; The first processing unit is further configured to set multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn area, 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 area, and the largest concentric pattern does not exceed the boundary of the target lawn area. 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 automatic lawnmower. 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.

41. An electronic device, characterized in that, The method includes a processing device, a storage device, and one or more programs, said one or more programs being stored in said storage device and configured to be executed by said processing device, said programs including instructions for performing the steps of the method as claimed in any one of claims 1-36.

42. An automatic lawnmower, characterized in that, include: The control module is configured to execute the step instructions in the method as described in any one of claims 1-37; The drive module is used to respond to the drive signals from the control module and adjust the speed and direction of travel of the automatic lawnmower. The operation module includes a mowing module or a pressing module. The mowing module is used to adjust the height and speed of the cutting disc, and the pressing module is used to create indentations.

43. An automatic lawnmower, characterized in that, The method includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the method as described in any one of claims 1 to 37 when it invokes the computer program in the memory.

44. An automatic lawn mowing system, characterized in that, Includes a server and an automatic lawnmower as described in claim 42 or 43, wherein the server is used to perform the method as described in any one of claims 29-37.

45. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-37.

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