Patent ID: 11940809
Assignee: WILLAND (BEIJING) TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  A | IPC A  G

Claim 12:
13. The electronic device according to claim 12, wherein the executable instruction causes the processor to further perform operations of:
determining an order of coverage for parts of the target working region represented by the at least two convex polygonal blocks by the autonomous mobile mowing apparatus;
determining, for a starting convex polygonal block and an end convex polygonal block that are adjacent in the order of coverage, a convex polygonal block sequence corresponding to the starting convex polygonal block and the end convex polygonal block according to an adjacency relationship between the at least two convex polygonal blocks;
determining a starting point position of the autonomous mobile mowing apparatus on a part of the target work region represented by the starting convex polygonal block, and determining an end point position of the autonomous mobile mowing apparatus on a part of the target work region represented by the end convex polygonal block;
searching, according to obstacle distribution on the subregion represented by the polygonal plane, for a path with a target of minimizing a movement path for the autonomous mobile mowing apparatus moving to a part of the target work region represented by a (j+1)-th convex polygonal block, to determine a j-th path segment of the autonomous mobile mowing apparatus on a part of the target work region represented by a j-th convex polygonal block, wherein the convex polygonal block sequence comprises M convex polygonal blocks, M is a positive integer, j is a positive integer less than or equal to M−1, a 1st convex polygonal block is the starting convex polygonal block, a path starting point of a 1st path segment is a position of the starting point, and a path starting point of a (j+1)-th path segment is a path end point of the j-th path segment;
searching, according to the obstacle distribution on the subregion represented by the polygonal plane, for a path with a target of minimizing a movement path for the autonomous mobile mowing apparatus moving to the end point position, to determine an M-th path segment of the autonomous mobile mowing apparatus on a part of the target work region represented by an M-th convex polygonal block, wherein the M-th convex polygonal block is a convex polygonal block corresponding to a part of the target work region where the end point position is located; and
sequentially combining the 1st path segment to the M-th path segment to obtain a transfer path of the autonomous mobile mowing apparatus transferring from the starting convex polygonal block to the end convex polygonal block.