Mower Path Planning Using Convex Sub-Areas in Narrow Zones
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Solution Overview
Problem
Existing mower path planning methods, particularly in complex and narrow areas, result in inefficient path coverage due to frequent direction changes, leading to prolonged operation times and reduced efficiency.
Innovation Solution
The method involves dividing the target mowing area into convex sub-areas, determining a main extension direction for each sub-area as the mowing direction, and connecting these paths to form an optimal mower path, minimizing direction changes and optimizing path coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If non-random path planning is adopted in complete coverage path planning, then working coverage and efficiency are improved, but in narrow and complex areas, frequent direction changes occur leading to prolonged operation time
Solution Approach 1:
The patent divides the target mowing area into multiple convex sub-areas based on environmental information and boundary characteristics. By segmenting the complex mowing area into simpler convex regions, the system can generate optimized path segments for each sub-area, reducing the frequency of direction changes when transitioning between areas while maintaining complete coverage.
2Reliability
If the mower follows conventional path planning in narrow areas, then complete coverage is achieved, but the mower switches directions back and forth frequently resulting in low working efficiency
Solution Approach 1:
The patent applies different path planning strategies to different regions. For convex sub-areas, it determines a main extension direction and generates optimized path segments that minimize direction changes. This local optimization maintains complete coverage while significantly improving working efficiency in specific narrow and complex areas.
Data Source
AI summary
A method and an apparatus for determining a mower path, an electronic device, a computer storage medium and a computer program are disclosed. The method for determining a mower path includes that: dividing a target mowing area into a plurality of convex sub-areas (S210); determining a main extension direction of each of the plurality of convex sub-areas as a mowing direction (S220); determining mowing paths of the plurality of convex sub-areas based on the respective mowing directions of the plurality of convex sub-areas (S230); and determining the mower path in the target mowing area based on the mowing paths of the plurality of convex sub-areas (S240). According to the solution of embodiments of the present disclosure, frequent direction changing of the mower in a narrow area is avoided, time consumption is reduced and the working efficiency of the mower is improved.