# US 2025/0147520 A1 · Mowing method and apparatus, robotic lawn mower, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0147520 A1 - Document ID: US20250147520A1 - Status: Published application - Kind: A1 - Application number: 19/016,669 - Filed: 2025-01-10 - Published: 2025-05-08 - Earliest claimed: 2022-07-12 - Assignees: Shenzhen Mammotion Innovation Co., Limited - Applicants: Shenzhen Mammotion Innovation Co., Limited - Inventors: Jianlin CHEN; Jidong WEI - Web page: https://patentgrep.com/patent/US20250147520A1 ## CPC - G05D 1/6482: {by dividing the whole area or space in sectors to be processed separately} - G05D 1/6484: {by taking into account parameters or characteristics of the working area or space, e.g. size or shape} - A01D 34/008: {for automated or remotely controlled operation} - A01D 2101/00: Lawn-mowers - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/23: {Gardens or lawns} - G05D 2109/10: Land vehicles - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01D: HARVESTING; MOWING ## Abstract According to a mowing method disclosed in embodiments of the present disclosure, a plurality of preset working regions are obtained in response to a mowing trigger request for a robotic lawn mower; a mowing sequence corresponding to the working regions is output based on region information of the working regions; a closed mowing route covering all the working regions is generated based on the mowing sequence, current position information of the robotic lawn mower, and a mowing direction, where a starting point and an ending point of the closed mowing route are the same; and the robotic lawn mower is controlled to perform a mowing operation based on the closed mowing route. ## Claims ### Claim 1 A mowing method, comprising: obtaining a plurality of preset working regions in response to a mowing trigger request for a robotic lawn mower; outputting a mowing sequence corresponding to the working regions based on region information of the working regions; generating a closed mowing route covering the working regions based on the mowing sequence, a current position information of the robotic lawn mower, and a mowing direction, wherein a starting point and an ending point of the closed mowing route are the same; and controlling the robotic lawn mower to perform a mowing operation based on the closed mowing route. ### Claim 2 (depends on 1) The mowing method according to claim 1, wherein the outputting the mowing sequence corresponding to the working regions based on region information of the working regions comprises: extracting region areas and region shapes of the working regions from the region information; and determining the mowing sequence corresponding to the working regions based on the region areas and the region shapes. ### Claim 3 (depends on 1) The mowing method according to claim 1, wherein the generating a closed mowing route covering the working regions based on the mowing sequence, the current position information of the robotic lawn mower, and the mowing direction comprises: generating a first mowing route corresponding to each of the working regions based on the mowing sequence, and the mowing direction of the robotic lawn mower; and obtaining the closed mowing route that covering the working regions by connecting the first mowing routes corresponding to the working regions, wherein the starting point and the ending point of the closed mowing route are both located at a current position of the robotic lawn mower. ### Claim 4 (depends on 3) The mowing method according to claim 3, wherein the generating the first mowing route corresponding to each of the working regions based on the mowing sequence, and the mowing direction of the robotic lawn mower comprises: detecting a distance between a first mowing sequence working region and the current position of the robotic lawn mower; generating an initial mowing route of traveling along the mowing direction when it is detected that the distance between the first mowing sequence working region and the current position of the robotic lawn mower is greater than a preset threshold, wherein a starting point of the initial mowing route is located at the current position of the robotic lawn mower, and an ending point of the initial mowing route is located within the first mowing sequence working region; and generating the mowing route corresponding to each of the working regions in sequence based on the initial mowing route and the mowing sequence. ### Claim 5 (depends on 4) The mowing method according to claim 4, wherein the generating the initial mowing route of traveling along the mowing direction comprises: detecting whether the initial mowing route passes through a working region; and when it is detected that the initial mowing route passes through a corresponding working region, adjusting the initial mowing route to a second mowing route in which the robotic lawn mower travels along a mowing boundary of the corresponding working region, wherein the corresponding working region is a closed region formed by connecting a plurality of line segments in sequence, and each of the line segments belongs to the mowing boundary of the corresponding working region. ### Claim 6 (depends on 3) The mowing method according to any one of claims 3, wherein the first mowing route corresponding to each of the working regions is parallel to a longest boundary of the corresponding working region. ### Claim 7 A mowing method, comprising: obtaining a preset working region in response to a mowing trigger request for a robotic lawn mower; generating a closed mowing route of the working region based on a region shape of the working region, a current position information of the robotic lawn mower, and a mowing direction, wherein a starting point and an ending point of the closed mowing route are the same; and controlling the robotic lawn mower to perform a mowing operation based on the closed mowing route. ### Claim 8 A robotic lawn mower, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of a mowing method, the mowing method comprises: obtaining a plurality of preset working regions in response to a mowing trigger request for a robotic lawn mower; outputting a mowing sequence corresponding to the working regions based on region information of the working regions; generating a closed mowing route covering all the working regions based on the mowing sequence, a current position information of the robotic lawn mower, and a mowing direction, wherein a starting point and an ending point of the closed mowing route are the same; and controlling the robotic lawn mower to perform a mowing operation based on the closed mowing route. ### Claim 9 (depends on 8) The robotic lawn mower according to claim 8, wherein the outputting the mowing sequence corresponding to the working regions based on region information of the working regions comprises: extracting region areas and region shapes of the working regions from the region information; and determining the mowing sequence corresponding to the working regions based on the region areas and the region shapes. ### Claim 10 (depends on 8) The robotic lawn mower according to claim 8, wherein the generating a closed mowing route covering all the working regions based on the mowing sequence, the current position information of the robotic lawn mower, and the mowing direction comprises: generating a first mowing route corresponding to each of the working regions based on the mowing sequence, and the mowing direction of the robotic lawn mower; and obtaining the closed mowing route that covering all the working regions by connecting the first mowing routes of the working regions, wherein the starting point and the ending point of the closed mowing route are both located at a current position of the robotic lawn mower. ### Claim 11 (depends on 10) The robotic lawn mower according to claim 10, wherein the generating the first mowing route corresponding to each of the working regions based on the mowing sequence, and the mowing direction of the robotic lawn mower comprises: detecting a distance between a first mowing sequence working region and the current position of the robotic lawn mower; generating an initial mowing route of traveling along the mowing direction when it is detected that the distance between the first mowing sequence working region and the current position of the robotic lawn mower is greater than a preset threshold, wherein a starting point of the initial mowing route is located at the current position of the robotic lawn mower, and an ending point of the initial mowing route is located within the first mowing sequence working region; and generating the mowing route corresponding to each of the working regions in sequence based on the initial mowing route and the mowing sequence. ### Claim 12 (depends on 11) The robotic lawn mower according to claim 11, wherein the generating the initial mowing route of traveling along the mowing direction comprises: detecting whether the initial mowing route passes through a working region; and when it is detected that the initial mowing route passes through a corresponding working region, adjusting the initial mowing route to a second mowing route in which the robotic lawn mower travels along a mowing boundary of the corresponding working region, wherein the working region is a closed region formed by connecting a plurality of line segments in sequence, and each of the line segments belongs to the mowing boundary of the working region. ### Claim 13 (depends on 10) The robotic lawn mower according to claims 10, wherein the first mowing route corresponding to each of the working regions is parallel to a longest boundary of the corresponding working region.