Patent ID: 11917938
Assignee: WILLAND (BEIJING) TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC A  G  Y | IPC A  G

Claim 5:
6. A mower, comprising:
a body, a cutterhead, and a driving wheel;
one or more processors; and
a memory storing a program;
wherein the program comprises instructions, and the instructions, when executed by the processor, cause the processor to perform operations of:
acquiring a preliminary map of a work region of a mower, wherein the preliminary map comprises a plurality of target points collected by the mower;
selecting any two adjacent target points in the preliminary map as first target points, connecting the first target points to form an initial connecting line, selecting a target point farthest from the initial connecting line as a second target point, wherein a distance between a target point and the initial connecting line is a smallest distance among distances between each point on the initial connecting line and the target point, and using connecting lines between the second target point and the first target points as to-be-processed connecting lines;
selecting, for each of the to-be-processed connecting lines, a target point that is located between two ends of the to-be-processed connecting line and is farthest from the to-be-processed connecting line as a third target point, using, in response to a distance between the third target point and the to-be-processed connecting line being greater than a first preset threshold, connecting lines between the third target point and the target points at the two ends of the to-be-processed connecting line as new to-be-processed connecting lines, returning to perform the operation of selecting, for each of the to-be-processed connecting lines, the target point that is located between two ends of the to-be-processed connecting line and is farthest from the to-be-processed connecting line as a third target point, until a distance between the selected third target point and the to-be-processed connecting line is less than or equal to the first preset threshold, and retaining each of the third target points whose distance from a corresponding to-be-processed connecting line is greater than the first preset threshold as a map construction target point, wherein the distance between the third target point and the to-be-processed connecting line is a smallest distance among distances between each point on the to-be-processed connecting line and the third target point; and
constructing a boundary map of the work region of the mower based on the map construction target point, the first target points, and the second target point.