Method and apparatus for determining mower path, and electronic device

An electronic device, comprising:

• a processor;
• and a memory for storing a computer program,
• wherein the processor is configured to call and run the computer program stored in the memory to cause the electronic device to:
• control a mower provided with a positioning device to move and obtain a plurality of mower positioning positions of the mower;
• determine an area surrounding the plurality of mower positioning positions as a target mowing area;
• determine an obstacle area in the target mowing area;
• divide the target mowing area into a plurality of convex sub-areas based on a boundary of the obstacle area and an outer boundary of the target mowing area;
• determine a main extension direction of each of the plurality of convex sub-areas as a mowing direction;
• determine mowing paths of the plurality of convex sub-areas based on the respective mowing directions of the plurality of convex sub-areas;
• and
• determine the mower path in the target mowing area based on the mowing paths of the plurality of convex sub-areas;
• wherein the processor is further configured to call and run the computer program to cause the electronic device to:
• determine a fitting boundary for the boundary of the obstacle area, wherein the fitting boundary has a direction consistency with the outer boundary of the target mowing area, determine an area to be divided surrounded by the fitting boundary and the outer boundary of the target mowing area, and divide the area to be divided based on the direction consistency between the fitting boundary and the outer boundary of the target mowing area, to obtain the plurality of convex sub-areas;
• or
• determine a fitting polygon enclosing the obstacle area, determine an area to be divided surrounded by the fitting polygon and the outer boundary of the target mowing area, and divide the area to be divided into the plurality of convex sub-areas based on a plurality of vertices of the fitting polygon.

A non-transitory computer storage medium having stored thereon a computer program that, when executed by a processor, causes the processor to implement a method for determining a mower path, comprising:

• controlling a mower provided with a positioning device to move and obtaining a plurality of mower positioning positions of the mower;
• determining an area surrounding the plurality of mower positioning positions as a target mowing area;
• determining an obstacle area in the target mowing area;
• dividing the target mowing area into a plurality of convex sub-areas based on a boundary of the obstacle area and an outer boundary of the target mowing area;
• determining a main extension direction of each of the plurality of convex sub-areas as a mowing direction;
• determining mowing paths of the plurality of convex sub-areas based on the respective mowing directions of the plurality of convex sub-areas;
• and
• determining the mower path in the target mowing area based on the mowing paths of the plurality of convex sub-areas;
• wherein dividing the target mowing area into the plurality of convex sub-areas based on the boundary of the obstacle area and the outer boundary of the target mowing area comprises:
• determining a fitting boundary for the boundary of the obstacle area, wherein the fitting boundary has a direction consistency with the outer boundary of the target mowing area, determining an area to be divided surrounded by the fitting boundary and the outer boundary of the target mowing area, and dividing the area to be divided based on the direction consistency between the fitting boundary and the outer boundary of the target mowing area, to obtain the plurality of convex sub-areas;
• or
• determining a fitting polygon enclosing the obstacle area, determining an area to be divided surrounded by the fitting polygon and the outer boundary of the target mowing area, and dividing the area to be divided into the plurality of convex sub-areas based on a plurality of vertices of the fitting polygon.