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

Claim 0:
1. A method for constructing a map for a mower, comprising:
acquiring a preliminary map of a work region of the 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 end s of the to-be-processed connecting line as new to-be-processed connecting lines, and 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.