Automatic mower, control method for automatic mower, and mower control device

Abstract

The application relates to a control method of an automatic mower, which comprises the following steps: a, controlling the automatic mower to move along a first path with a first advancing direction, and the automatic mower generates two first imprints on the lawn; b, controlling the automatic mower to move along a second path with a second advancing direction, the second path is offset from the first path by a path offset B, and the automatic mower generates two second imprints on the lawn; c, controlling the automatic mower to move along a third path with the first advancing direction, the third path is offset from the second path by the path offset B, and the automatic mower generates two first imprints on the lawn; and d, controlling the automatic mower to move along a fourth path with the second advancing direction, the fourth path is offset from the third path by the path offset B, and the automatic mower generates two second imprints on the lawn.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent mowing, and in particular to an automatic mowing machine, a control method thereof, a mowing control device, computer equipment, a storage medium and a computer program product. BACKGROUND

[0002] The lawn of a football field is usually striped with alternating colors of different shades in order to be aesthetically pleasing and to relieve the visual fatigue of the spectators and players. In order to achieve the alternating colors of different shades, professionals usually roll the lawn with a special roller before each football match to produce different indentations and compact the lawn. Since the lying directions of the grass in different directions are different, the visual effect of different colors of different shades will appear after the reflection of light. In addition, chemical and biological methods are also used to treat the lawn to obtain the stripes of alternating colors of different shades, such as applying special fertilizers or spraying green enhancers to the lawn, and different amounts of nitrogen and potassium fertilizers can change the color of the lawn.

[0003] In the prior art, whether a mechanical mower is used to press the lawn with a roller or other chemical and biological methods are used, additional human resources and / or economic costs are required in addition to the regular mowing work of the lawn. SUMMARY

[0004] Therefore, the present application provides an automatic mowing machine and a control method thereof, and a mowing control device to solve the problem of waste of human resources or economic costs in the prior art.

[0005] In a first aspect, a control method of an automatic mowing machine is provided, and the automatic mowing machine comprises:

[0006] a machine body;

[0007] a cutting module installed on the machine body for performing a cutting task;

[0008] a moving assembly installed on the machine body for moving the machine body, the moving assembly comprising a moving wheel on one side of the machine body and a moving wheel on the other side of the machine body;

[0009] The method comprises:

[0010] a. controlling the automatic mowing machine to move along a first path having a first advancing direction, and in the process, the moving wheels on both sides of the machine body produce two first indentations on the lawn, and the grass under the first indentations lies in the first advancing direction;

[0011] b. controlling the automatic mower to move along a second path having a second travel direction, the second path being offset from the first path by a path offset B, the second direction being opposite to the first travel direction, in the moving, the moving wheels on both sides of the machine body generate two second impressions on the lawn, the grass under the second impressions lay down along the second travel direction;

[0012] c. controlling the automatic mower to move along a third path having a first travel direction, the third path being offset from the second path by a path offset B, in the moving, the moving wheels on both sides of the machine body generate two first impressions on the lawn;

[0013] d. controlling the automatic mower to move along a fourth path having a second travel direction, the fourth path being offset from the third path by a path offset B, in the moving, the moving wheels on both sides of the machine body generate two second impressions on the lawn;

[0014] wherein the path offset B is configured such that, among four first impressions generated by the moving wheels on two adjacent paths in the first travel direction, two middle first impressions are adjacent, among four second impressions generated by the moving wheels on two adjacent paths in the second travel direction, two middle second impressions are adjacent, and the adjacent two first impressions are adjacent to the adjacent two second impressions.

[0015] In some embodiments, the method comprises: a cutting module is arranged between the moving wheels on both sides of the machine body, when the automatic mower moves along a path in the first travel direction or moves along a path in the second travel direction, the cutting module performs a cutting task.

[0016] In some embodiments, the method comprises: the automatic mower obtains different task instructions, controls the path offset B, so that the distance between the adjacent two impressions generated by the moving wheels in step d is different.

[0017] In some embodiments, the method comprises: the path offset B is obtained from the configuration parameters pre-configured in the automatic mower; the path offset B is determined according to the wheel outside span D and the single-side wheel width d of the automatic mower.

[0018] In some embodiments, the method comprises: obtaining the wheel outside span D and the single-side wheel width d of the automatic mower; determining the path offset B according to the wheel outside span D and the single-side wheel width d of the automatic mower.

[0019] In some embodiments, the method comprises: controlling the path offset B such that the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: 4 / 5 x (D-2d)≤B≤6 / 5 x (D-2d).

[0020] In some embodiments, the method comprises: controlling the path offset B such that in the step d, the distance between two adjacent ones of the plurality of impressions produced by the moving wheels is less than or equal to zero; wherein the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: B=D-2d, D / 4≤d<D / 3.

[0021] In some embodiments, the method comprises: controlling the path offset B such that in the step d, the distance R1 between two adjacent ones of the plurality of impressions produced by the moving wheels, along which the grass under the impressions is laid in different directions of travel, satisfies: 0mm≤R1≤40mm, and the distance R2 between two adjacent ones of the plurality of impressions produced by the moving wheels, along which the grass under the impressions is laid in the same direction of travel, satisfies: R2≤0mm; wherein the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: B<D-2d, d≥D / 4, and 2d-40mm≤B≤2d+20mm.

[0022] In some embodiments, the method comprises: controlling the path offset B such that in the step d, the distance R2 between two adjacent ones of the plurality of impressions produced by the moving wheels, along which the grass under the impressions is laid in the same direction of travel, satisfies: 0mm≤R2≤40mm, and the distance R1 between two adjacent ones of the plurality of impressions produced by the moving wheels, along which the grass under the impressions is laid in different directions of travel, satisfies: -40mm≤R1≤40mm; wherein the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: B>D-2d, d≥D / 4, and 2d-40mm≤B≤2d+20mm.

[0023] In some embodiments, the method comprises: the moving wheels located on one side of the machine body and the moving wheels located on the other side of the machine body both comprise a moving wheel located at the front of the machine body and a moving wheel located at the back of the machine body; the distance X between the outside of the moving wheel located at the front of the machine body and the inside of the moving wheel located at the back of the machine body on the same side of the machine body, along a direction perpendicular to the direction of travel of the moving assembly, satisfies: X≤40mm.

[0024] In a second aspect, there is provided an automatic mower, the automatic mower comprising:

[0025] a machine body;

[0026] a cutting module mounted to the machine body for performing a cutting task;

[0027] a moving assembly mounted on the body for moving the body, the moving assembly comprising a moving wheel on one side of the body and a moving wheel on the other side of the body;

[0028] a control module configured to control the moving assembly to move along a first path and a second path in the working area alternately, the first path and the second path being substantially parallel and opposite in direction, wherein a path offset B between adjacent first path and second path is determined according to a wheel outside span D and a single wheel width d of the automatic mower, the path offset B, the wheel outside span D and the single wheel width d satisfying 4 / 5 x (D-2d) ≤ B ≤ 6 / 5 x (D-2d).

[0029] In some embodiments, the control module controls the cutting module to perform the cutting task when the moving assembly moves along the first path and the second path alternately, the cutting module being located between the moving wheels on the two sides of the body.

[0030] In some embodiments, the path offset B, the wheel outside span D and the single wheel width d satisfy B = D-2d, D / 4 ≤ d < D / 3.

[0031] In some embodiments, the path offset B, the wheel outside span D and the single wheel width d satisfy B < D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm.

[0032] In some embodiments, the path offset B, the wheel outside span D and the single wheel width d satisfy B > D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm.

[0033] In some embodiments, the moving wheel on one side of the body and the moving wheel on the other side of the body both comprise a moving wheel on the front of the body and a moving wheel on the back of the body, and a distance X between the outside of the moving wheel on the front of the body and the inside of the moving wheel on the back of the body on the same side of the body perpendicular to the direction of the moving assembly satisfies X ≤ 40mm.

[0034] In a third aspect, an automatic mower is provided, comprising:

[0035] a body;

[0036] a cutting module mounted on the body for performing a cutting task;

[0037] a moving assembly mounted on the body for moving the body, the moving assembly comprising a moving wheel on one side of the body and a moving wheel on the other side of the body;

[0038] a control module configured to perform the following steps when the automatic mower is located in a working area:

[0039] g. controlling the automatic mower to move along a first path having a first travel direction, in which movement, the moving wheels located on both sides of the machine body generate two first impressions on the lawn, and the grass under the first impressions lay flat along the first travel direction;

[0040] h. controlling the automatic mower to move along a second path having a second travel direction, the second path being offset from the first path by a path offset B, and the second travel direction being opposite to the first travel direction, in which movement, the moving wheels located on both sides of the machine body generate two second impressions on the lawn, and the grass under the second impressions lay flat along the second travel direction;

[0041] j. controlling the automatic mower to move along a third path having a first travel direction, the third path being offset from the second path by a path offset B, in which movement, the moving wheels located on both sides of the machine body generate two first impressions on the lawn;

[0042] k. controlling the automatic mower to move along a fourth path having a second travel direction, the fourth path being offset from the third path by a path offset B, in which movement, the moving wheels located on both sides of the machine body generate two second impressions on the lawn;

[0043] wherein the path offset B is configured such that, among four first impressions generated by the moving wheels on two adjacent paths in the first travel direction, two first impressions in the middle are adjacent, among four second impressions generated by the moving wheels on two adjacent paths in the second travel direction, two second impressions in the middle are adjacent, and the adjacent two first impressions are adjacent to the adjacent two second impressions.

[0044] In a fourth aspect, there is provided a mower control device, the device comprising:

[0045] a configuration parameter acquisition module configured to perform the following step when the automatic mower is located in a working area: acquiring configuration parameters of the automatic mower;

[0046] a storage module storing the configuration parameters; the configuration parameters comprising a path offset B;

[0047] the device is configured to perform the following steps when the automatic mower is located in a working area:

[0048] t. the configuration parameter acquisition module acquires the path offset B from the storage module;

[0049] y, controlling the automatic mower to move along a first path having a first advancing direction, in which the moving wheels located at both sides of the machine body generate two first impressions on the lawn, and the grass under the first impressions lay flat along the first advancing direction;

[0050] u, controlling the automatic mower to move along a second path having a second advancing direction, the second path being offset from the first path by a path offset B, and the second advancing direction being opposite to the first advancing direction, in which the moving wheels located at both sides of the machine body generate two second impressions on the lawn, and the grass under the second impressions lay flat along the second advancing direction;

[0051] i, controlling the automatic mower to move along a third path having a first advancing direction, the third path being offset from the second path by a path offset B, in which the moving wheels located at both sides of the machine body generate two first impressions on the lawn;

[0052] o, controlling the automatic mower to move along a fourth path having a second advancing direction, the fourth path being offset from the third path by a path offset B, in which the moving wheels located at both sides of the machine body generate two second impressions on the lawn;

[0053] wherein the path offset B is configured such that, among four first impressions generated by the moving wheels of the automatic mower on two adjacent paths in the first advancing direction, two first impressions in the middle are adjacent, among four second impressions generated by the moving wheels of the automatic mower on two adjacent paths in the second advancing direction, two second impressions in the middle are adjacent, and the two adjacent first impressions are adjacent to the two adjacent second impressions.

[0054] In a fifth aspect, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the method steps of the automatic mower and the mower control device when executing the computer program.

[0055] In a sixth aspect, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the method steps of the automatic mower and the mower control device when executed by a processor.

[0056] In a seventh aspect, a computer program product is provided, comprising a computer program, and the computer program implementing the method steps of the automatic mower and the mower control device when executed by a processor. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 A side view of the automatic mower in some embodiments.

[0058] Figure 2 A top view of the automatic mower in some embodiments.

[0059] Figure 3 A control method of the automatic mower in some embodiments.

[0060] Figure 4 A schematic diagram of performing step S100 in some embodiments

[0061] Figure 5 A schematic diagram of performing step S110 in some embodiments

[0062] Figure 6 A schematic diagram of performing step S120 in some embodiments

[0063] Figure 7 A schematic diagram of performing step S130 in some embodiments

[0064] Figure 8 A schematic diagram of the automatic mower controlling the movement of the movement assembly with a certain path offset in some embodiments.

[0065] Figure 9 A schematic diagram of the automatic mower controlling the movement of the movement assembly with another path offset in some embodiments.

[0066] Figure 10 A schematic diagram of the automatic mower controlling the movement of the movement assembly with another path offset in some embodiments.

[0067] Figure 11 A schematic diagram of the automatic mower controlling the movement of the movement assembly with another path offset in some embodiments.

[0068] Figure 12 A schematic diagram of the stripes formed by the automatic mower mowing the lawn with a certain angle with the boundary of the lawn in some embodiments.

[0069] Figure 13 A schematic diagram of the structure of the automatic mower in some embodiments.

[0070] Figure 14 A schematic diagram of the structure of the lawn mowing control device in some embodiments.

[0071] Figure 15 A schematic diagram of the structure of the automatic mower in some embodiments. DETAILED DESCRIPTION

[0072] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0073] The automatic mower provided by the present application is shown in Figure 1 , Figure 2 The automatic mower 100 comprises a machine body 101, a cutting module 102 installed on the machine body 101 for performing a cutting task, and a moving assembly 103 installed on the machine body 101 for moving the machine body 101.

[0074] In some embodiments, as shown in Figure 2 , the moving assembly 103 comprises moving wheels 1031 and 1032 located on one side of the machine body 101, and the moving assembly 103 further comprises moving wheels 1033 and 1034 located on the other side of the machine body 101. Among them, the moving wheels 1031 and 1033 located at the front of the machine body are driven wheels, and the moving wheels 1032 and 1034 located at the rear of the machine body are driving wheels, and the sizes of the moving wheels 1032 and 1034 are greater than those of the moving wheels 1031 and 1033. In some other embodiments (not shown), the moving wheels 1031 and 1033 located at the front of the machine body can also be driving wheels, and the moving wheels 1032 and 1034 located at the rear of the machine body can also be driven wheels, and the sizes of the moving wheels 1032 and 1034 can also be smaller than those of the moving wheels 1031 and 1033. In some other embodiments (not shown), the moving wheels 1031, 1033, 1032 and 1034 can all be driving wheels, and their sizes can be the same or different.

[0075] In some embodiments (not shown), the moving assembly 103 can also be composed of three moving wheels, such as two driving wheels located at the rear of the machine body 101 and arranged on both sides of the machine body 101, and one driven wheel located at the front of the machine body 101 and arranged in the middle of the machine body 101. In some embodiments (not shown), the moving assembly 103 can also comprise more than four moving wheels.

[0076] When the automatic lawnmower 100 performs its cutting task within its working area, the moving component 103 compacts the grass, causing the compacted grass to flatten along the direction of travel of the automatic lawnmower 100, thus leaving indentations on the grass. When the automatic lawnmower 100 travels in different directions, the compacted grass in the working area will flatten in different directions. Due to the different directions of grass flattening, the indentations created in different directions, after reflection of light, will form a visual effect of stripes of varying shades. When the automatic lawnmower 100 travels in two opposite directions within its working area, it will leave darker and lighter stripes on the grass. The darker stripes corresponding to the indentations will appear darker after reflection of light, and the lighter stripes corresponding to the indentations will appear lighter after reflection of light.

[0077] This application provides a control method for an automatic lawnmower 100, such as... Figure 3 As shown, it includes the following steps:

[0078] S100 controls the automatic lawnmower 100 to move along the first path in the first direction of travel.

[0079] like Figure 4 As shown, during the movement of the automatic lawnmower 100 along the first path (i.e., path 1) in the first direction of travel, the moving wheels 1031 and 1032 on one side of the body 101 roll over the grass, creating an indentation, i.e., indentation 1. At the same time, the moving wheels 1033 and 1034 on the other side of the body 101 roll over the grass, creating another indentation, i.e., indentation 2. In this application, the indentation created by the automatic lawnmower 100 moving along the path in the first direction of travel is taken as the first indentation. Therefore, every time the automatic lawnmower 100 moves along the path in the first direction of travel, the moving wheels on both sides of the body 101 will create two first indentations, i.e., indentation 1 and indentation 2. The grass under the first indentation lies flat along the first direction of travel.

[0080] This application does not limit the first direction of travel of the automatic lawnmower 100. The first direction of travel can be any direction relative to the working area of ​​the automatic lawnmower 100. In some embodiments, for example, if the working area of ​​the automatic lawnmower 100 is a regular rectangular football field, the first direction of travel can be a direction parallel to or perpendicular to a certain boundary of the football field. Correspondingly, the path under the first direction of travel is a straight line segment parallel to or perpendicular to a certain boundary of the football field.

[0081] S110, control the automatic lawnmower 100 to move along a second path with a second direction of travel, the second path being offset relative to the first path by a path offset amount B, the second direction of travel being opposite to the first direction of travel.

[0082] like Figure 5As shown, corresponding to the movement of the automatic lawnmower 100 along the path in the first direction of travel, during the movement of the automatic lawnmower 100 along the second path (i.e., path 2) in the second direction of travel, the moving wheels 1031 and 1032 on one side of the body 101 compact the grass, creating an indentation, namely indentation 4. At the same time, the moving wheels 1033 and 1034 on the other side of the body 101 compact the grass, creating another indentation, namely indentation 3. In this application, the indentation created by the automatic lawnmower 100 moving along the path in the second direction of travel is referred to as the second indentation. Therefore, every time the automatic lawnmower 100 moves along the path in the second direction of travel, the moving wheels on both sides of the body 101 will create two second indentations, namely indentation 3 and indentation 4. The grass under the second indentation lies flat along the second direction of travel.

[0083] When the automatic lawnmower 100 moves in the first direction of travel, the grass in the two first indentations created by the moving component 103 lies flat along the first direction of travel. When the automatic lawnmower 100 moves in the second direction of travel, the grass in the two second indentations created by the moving component 103 lies flat along the second direction of travel. Since the first and second directions of travel are opposite, the first and second indentations, after reflection of light, create the visual effect of darker and lighter stripes. In this application, the stripes corresponding to the first indentation are designated as first-color stripes, and the stripes corresponding to the second indentation are designated as second-color stripes. It should be noted that the difference between the so-called first-color stripes and second-color stripes arises from the varying depths of light created by the indentations created by the moving component 103 moving along two opposite directions of travel. Indentations 1 and 2 correspond to the first-color stripes, and indentations 3 and 4 correspond to the second-color stripes.

[0084] like Figure 5 As shown, since the path in the second traveling direction is obtained by offsetting the path in the first traveling direction by a path offset amount B, and the second traveling direction is opposite to the first traveling direction, this application does not limit the first traveling direction of the automatic lawnmower 100. When the first traveling direction can be any direction relative to the working area of ​​the automatic lawnmower 100, the second traveling direction can also be any direction relative to the working area of ​​the automatic lawnmower 100 that is opposite to the first traveling direction, such as... Figure 12 As shown, the first and second travel directions can be directions that form a certain angle with the boundary of the lawn. In some embodiments, for example, if the working area of ​​the automatic lawnmower 100 is a regular rectangular football field, and if the first travel direction is parallel to or perpendicular to a certain boundary of the football field, and the path under the first travel direction is a straight line segment parallel to or perpendicular to a certain boundary of the football field, then the second travel direction is also parallel to or perpendicular to a certain boundary of the football field, and the path under the second travel direction is a straight line segment parallel to or perpendicular to a certain boundary of the football field.

[0085] S120 controls the automatic lawnmower to move along a third path having a first direction of travel, the third path being offset relative to the second path by a path offset amount B.

[0086] S130 controls the automatic lawnmower to move along a fourth path having a second direction of travel, the fourth path being offset relative to the third path by a path offset amount B.

[0087] like Figure 6 As shown, when step S120 is executed, the automatic lawnmower 100 generates two more first indentations, namely indentation 5 and indentation 6, forming stripes of the first color. Figure 7 As shown, when step S130 is executed, the automatic lawnmower 100 generates two second indentations, namely indentation 7 and indentation 8, forming stripes of the second color. By repeatedly executing steps S100-S130 within the working area, the following pattern can be produced: Figure 8 The multiple first indentations and second indentations shown are, in other words, multiple first-color stripes and second-color stripes.

[0088] This application does not limit the transition path of the automatic lawnmower 100 from the end of path 1 to the start of path 2, that is, it does not limit the transition path of the automatic lawnmower 100 from the end of the previous path to the start of the next path. In some embodiments, the end of the previous path or the start of the next path of the automatic lawnmower 100 can be a point on the boundary of the working area. When the automatic lawnmower 100 reaches the point on the boundary, it can turn and adjust its direction of travel to travel along the boundary of the working area to the start of the next path. That is, the aforementioned transition path can be a segment on the boundary of the working area. In other embodiments, the end of the previous path or the start of the next path of the automatic lawnmower 100 can also be a point within the working area or a point outside the working area. The aforementioned transition path is not limited to a segment on the boundary of the working area. The transition path can also be located inside or outside the boundary of the working area, or cross both inside and outside the boundary of the working area.

[0089] In the above control method, it is necessary to control the path offset B so that among the four first indentations generated by the two adjacent paths of the moving component 103 in the first traveling direction, the two middle first indentations are adjacent, and among the four second indentations generated by the two adjacent paths of the moving component 103 in the second traveling direction, the two middle second indentations are adjacent, and the two adjacent first indentations are adjacent to the two adjacent second indentations. Figure 7 As shown, the automatic lawnmower 100 creates four indentations (indentation 1, indentation 2, indentation 5, and indentation 6) along adjacent paths 1 and 3 in the first direction of travel. The two indentations in the middle, indentation 2 and indentation 5, are adjacent. Figure 7As shown, the automatic lawnmower 100 creates four indentations (indentations 3, 4, 7, and 8) along adjacent paths 2 and 5 in the second direction of travel. Indentations 4 and 7 are adjacent in the middle. In this application, "adjacent paths" means there is no third path between them. The areas traversed by the body 101 of the automatic lawnmower 100 along these adjacent paths can be spaced apart, closely adjacent without gaps, or partially overlapping. Similarly, "adjacent indentations" means there is no third indentation between them. These indentations can be spaced apart, closely adjacent without gaps, or partially overlapping.

[0090] In the above control method, it is also necessary to control the path offset B so that when two adjacent paths in the first traveling direction (e.g.) Figure 7 When paths 1 and 3 shown are alternated with the two adjacent paths in the second direction of travel (corresponding to...) Figure 7 Paths 2 and 4 shown (i.e., paths 1 to 4 are arranged alternately in the first and second travel directions) have two adjacent first indentations (e.g., indentation 2 and indentation 5) adjacent to two adjacent second indentations (corresponding to indentation 4 and indentation 7). That is, as shown... Figure 7 As shown, the first-colored stripe formed by two adjacent first indentations 2 and 5 is adjacent to the second-colored stripe formed by two adjacent second indentations 4 and 7. When the automatic lawnmower 100 repeatedly executes steps S100-S130 within the working area, multiple adjacent first-colored stripes and second-colored stripes can be generated, that is, as shown... Figure 8 The alternating light and dark stripes of the first and second colors are designed to enhance aesthetics and alleviate visual fatigue. The alternating distribution of the first and second color stripes is not only visually appealing but also helps reduce visual strain for those who need to focus on the grass for extended periods, such as players, referees, and spectators on a football field.

[0091] In some embodiments, while the automatic lawnmower 100 moves along a path in a first direction of travel or along a path in a second direction of travel, the cutting module 102 performs the cutting task. In this way, the automatic lawnmower 100 traverses the work area, not only forming alternating dark and light colored stripes, but also performing the mowing task, saving human resources and economic costs.

[0092] In some embodiments, the path offset B can be adjusted according to the task instructions received by the automatic lawnmower 100 to accommodate different tasks requiring varying spacing between adjacent indentations in the multiple indentations produced by the moving component 103. The task instructions to be received by the automatic lawnmower 100 can be pre-stored within the automatic lawnmower 100 and triggered by the user operating the corresponding button or control panel on the automatic lawnmower 100; alternatively, the task instructions can be sent by the user to the automatic lawnmower 100 via an external device such as a mobile app or computer. The spacing between two adjacent indentations can be a value greater than or equal to zero, or a value less than zero. A spacing greater than zero indicates a gap between the two adjacent indentations; a spacing equal to zero indicates that the two adjacent indentations are adjacent and without gap; and a spacing less than zero indicates that the two adjacent indentations partially overlap.

[0093] In some embodiments, the path offset B is one of the configuration parameters pre-configured in the automatic lawnmower 100 or configured in an external device communicating with the automatic lawnmower 100, and the path offset B is calculated and determined based on the outer wheel span D and the single-side wheel width d of the automatic lawnmower 100.

[0094] like Figure 4 As shown, the outer span of the wheels is equal to the distance between the two furthest boundaries of the two indentations created by the moving component 103 of the automatic lawnmower 100 as it moves in a certain direction of travel. From another perspective, when the entire width of the two outermost moving wheels of the moving component can leave noticeable indentations on the lawn, then as... Figure 2 As shown, the outer span D of the wheels refers to the distance from the outermost two moving wheels (such as moving wheels 1032 and 1034) of the body 101 of the automatic lawnmower 100 to the outermost part of the other moving wheel 1034. Figure 4 As shown, the single-sided wheel width d is equal to the width of a single indentation produced by the moving component 103 of the automatic lawnmower 100 as it moves in a certain direction. From one perspective, when the moving component is located on one side, all wheel widths can leave a noticeable indentation on the lawn, then... Figure 2As shown, the single-side wheel width d refers to the distance between the inner side of the moving wheel 1031 to the outer side of the moving wheel 1032, or the distance between the inner side of the moving wheel 1033 to the outer side of the moving wheel 1034, which are located at the same side of the machine body 101. Generally, the former is equal to the latter. If some of the moving wheels of the automatic mower 100 do not leave marks when moving in the working area, or some of the moving wheels only leave marks with part of the wheel width, or the marks are not obvious and can be ignored in visual effect, at this time, the wheel outer side span D is only equal to the distance between the two marks left by the moving assembly 103 of the automatic mower 100 when moving in a certain direction of travel, and the distance between the farthest boundaries in the direction of travel of the automatic mower 100. The single-side wheel width d is only equal to the width of the single mark left by the moving assembly 103 of the automatic mower 100 when moving in a certain direction of travel.

[0095] In some embodiments, the moving wheels 1031, 1033 located at the front of the machine body 101 of the automatic mower 100 are driven wheels, and the moving wheels 1032, 1034 located at the rear of the machine body 101 are driving wheels. As known from the prior art, when the mass of the driven wheel is lighter, the mark left by the driven wheel when moving on the lawn is not obvious in visual effect and can be ignored. That is, the visual effect of the alternating and spaced first color stripes and second color stripes of the working area is mainly generated by the marks left by the two driving wheels, i.e., the moving wheels 1032, 1034, at the rear of the automatic mower 100. At this time, the wheel outer side span D is equal to the distance between the two marks left by the moving wheels 1032, 1034 when the automatic mower 100 moves in a certain direction of travel, and the distance between the farthest boundaries in the direction parallel to the direction of travel of the automatic mower 100. If all the wheel widths of the moving wheels 1032, 1034 can leave obvious marks on the lawn, the wheel outer side span D is also equal to the distance between the outer side of the moving wheel 1032 and the outer side of the other moving wheel 1034. At this time, the single-side wheel width is equal to the width of the single mark left by the moving wheels 1032, 1034 when the automatic mower 100 moves in a certain direction of travel. If all the wheel widths of the moving wheels 1032, 1034 can leave obvious marks on the lawn, the single-side wheel width is also equal to the wheel width of the moving wheel 1032 or the wheel width of the moving wheel 1034 (generally, the wheel widths of the two are equal).

[0096] In some embodiments, the automatic mower comprises two driving wheels located at the rear of the body and on both sides of the body, and one driven wheel located at the middle of the front of the body. When the mass of the driven wheel located at the middle of the front of the body is light, the pressure mark generated by the movement of the driven wheel on the lawn is not obvious in visual effect, and can be ignored. That is, the visual effect of the alternately spaced first color stripes and second color stripes in the working area mainly depends on the pressure marks generated by the two driving wheels at the rear of the automatic mower. At this time, the wheel outside span D is equal to the distance between the two pressure marks generated by the driving wheels when the automatic mower moves in a certain direction of movement, and the distance is between the boundaries farthest apart in the direction parallel to the direction of movement of the automatic mower. If all the wheel widths of the two driving wheels can leave obvious pressure marks on the lawn, the wheel outside span D is also equal to the distance from the outside of one driving wheel to the outside of the other driving wheel. At this time, the single-side wheel width is equal to the width of a single pressure mark generated by the driving wheel when the automatic mower moves in a certain direction of movement. If all the wheel widths of the driving wheels can leave obvious pressure marks on the lawn, the single-side wheel width is also equal to the wheel width of the driving wheel (generally, the wheel widths of the two driving wheels are equal).

[0097] Generally, the wheel widths of the automatic mower 100 and their relative positional relationship are determined in the production and manufacturing stage, that is, the wheel outside span D and the single-side wheel width d can be determined in the production and manufacturing stage of the automatic mower 100, so that the path offset B can be calculated according to the determined wheel outside span D and single-side wheel width d before the automatic mower 100 is sold, and stored in the automatic mower 100 or an external device in communication with the automatic mower 100 as one of the configuration parameters of the automatic mower 100. The stored path offset B can be a certain value, or different values corresponding to different distances between adjacent two pressure marks generated by the movement of the movement assembly 103. The user can set different stripe visual effects or stripe visual effects corresponding to different path offsets B according to the task requirements or user's own preferences before the automatic mower 100 performs a certain specific task.

[0098] In some embodiments, the automatic mower 100 can obtain the wheel outside span D and the single-side wheel width d before being sold, and then calculate the value or value range of the path offset B according to the relationship among the path offset B, the wheel outside span D and the single-side wheel width d. The way of obtaining the wheel outside span D and the single-side wheel width d by the automatic mower 100 can be manually input by relevant personnel, or the automatic mower 100 can automatically obtain the corresponding sensor data. In other embodiments, the automatic mower 100 can also obtain the wheel outside span D and the single-side wheel width d after being sold, and then calculate the value or value range of the path offset B according to the relationship among the path offset B, the wheel outside span D and the single-side wheel width d. The way of obtaining the wheel outside span D and the single-side wheel width d by the automatic mower 100 can be manually input by the user, or the automatic mower 100 can automatically obtain the corresponding sensor data. In some embodiments, the user inputs or selects a certain stripe visual effect, and the automatic mower 100 calculates the corresponding path offset B according to the obtained wheel outside span D, the single-side wheel width d and the stripe visual effect set by the user, and controls the automatic mower 100 to move in the working area according to the path offset B to obtain the stripe visual effect expected by the user.

[0099] In some embodiments, the control path offset B is such that the path offset B, the wheel outside span D and the single-side wheel width d satisfy: B = D - 2d, D / 4≤d<D / 3, which can make the distance between two adjacent imprints generated by the moving assembly 103 be less than or equal to zero, which includes two cases: first, the two adjacent imprints are tightly together without gap, i.e. the distance is zero, as shown in FIG. 6A; second, the two adjacent imprints are partially overlapped, i.e. the distance is less than zero, as shown in FIG. 6B. Figure 8 Figure 8

[0100] Figure 8 ​​​As shown, step S100 is performed, the moving assembly 103 generates two first imprints, i.e. imprint 1 and imprint 2, when the automatic mower 100 moves along path 1 in the first direction of travel; step S110 is performed, the moving assembly 103 generates two second imprints, i.e. imprint 3 and imprint 4, when the automatic mower 100 moves along path 2 in the second direction of travel, wherein the interval between adjacent imprints 2 and 3 is zero; step S120 is performed, the moving assembly 103 generates two first imprints, i.e. imprint 5 and imprint 6, wherein the interval between adjacent imprints 4 and 5 is zero, and the interval between adjacent imprints 2 and 5 is also zero; step S130 is performed, the moving assembly 103 generates two second imprints, i.e. imprint 7 and imprint 8, wherein the interval between adjacent imprints 4 and 7 is zero, and the interval between adjacent imprints 6 and 7 is also zero. That is, in some embodiments, among the four imprints generated by the moving assembly 103 in the same direction of travel on two adjacent paths, the two imprints in the middle are adjacent and have zero interval, i.e. the two first imprints in the middle generated by the moving assembly 103 on two adjacent paths in the first direction of travel are adjacent and have zero interval, and the two second imprints in the middle generated by the moving assembly 103 on two adjacent paths in the second direction of travel are adjacent and have zero interval; when the two adjacent paths in the first direction of travel and the two adjacent paths in the second direction of travel are arranged alternately, the two adjacent first imprints and the two adjacent second imprints are adjacent and have zero interval. When steps S100-S130 are repeatedly performed, the visual effect of first color stripes and second color stripes with alternating no-gap distribution and uniform width can be obtained, and the uniform stripe width W is equal to the path offset B.

[0101] As Figure 9As shown, step S100 is performed, the automatic mower 100 moves along path 1 in the first direction of travel, the movement assembly 103 generates two first imprints, namely imprints 1 and 2; step S110 is performed, the automatic mower 100 moves along path 2 in the second direction of travel, the movement assembly 103 generates two second imprints, namely imprints 3 and 4, wherein the interval between adjacent imprints 2 and 3 is zero; step S120 is performed, the movement assembly 103 generates two first imprints, namely imprints 5 and 6, wherein the interval between adjacent imprints 4 and 5 is zero, and the interval R2 between adjacent imprints 2 and 5 satisfies: R2 < 0 mm, i.e., the imprints 2 and 5 partially overlap; step S130 is performed, the movement assembly 103 generates two second imprints, namely imprints 7 and 8, wherein the interval R2 between adjacent imprints 4 and 7 satisfies: R2 < 0 mm, and the interval between adjacent imprints 6 and 7 is also zero. That is, in some embodiments, among the four imprints generated by the movement assembly 103 in the same direction of travel on two adjacent paths, the two imprints in the middle are adjacent and the interval R2 satisfies: R2 < 0 mm, i.e., the two imprints in the middle partially overlap, i.e., the two first imprints in the middle generated by the movement assembly 103 on two adjacent paths in the first direction of travel are adjacent and the interval R2 satisfies: R2 < 0 mm, the two second imprints in the middle generated by the movement assembly 103 on two adjacent paths in the second direction of travel are adjacent and the interval R2 satisfies: R2 < 0 mm; when the two adjacent paths in the first direction of travel and the two adjacent paths in the second direction of travel are arranged alternately, the two adjacent first imprints and the two adjacent second imprints are adjacent and the interval is zero. Although the two imprints in the middle generated by the two adjacent paths in the same direction of travel partially overlap, since the directions of travel are the same, the directions of the grass under the imprints are the same, and ultimately a visual effect of a color stripe, i.e., a first color stripe or a second color stripe, is presented. Therefore, when steps S100-S130 are repeatedly performed, a visual effect of first color stripes and second color stripes with uniform width and arranged alternately without gaps can be obtained, and the uniform stripe width W is equal to the path offset B. As shown in Figure 8 , Figure 9 In these embodiments, the interval between adjacent imprints in the multiple imprints generated by the movement assembly 103 is equal to zero or less than zero, when the path offset B, the wheel outside span D, and the single-side wheel width d satisfy B = D - 2d, and the wheel outside span D and the single-side wheel width d satisfy D / 4 ≤ d < D / 3, the automatic mower 100 is controlled to repeatedly perform steps S100-S130 according to the path offset B satisfying the above relationship, so that the working area can obtain a visual effect of first color stripes and second color stripes with uniform width and arranged alternately without gaps, and the uniform stripe width W is equal to the path offset B.

[0102] As shown in Table 1, for some values of the path offset B, the wheel outside span D, and the single-side wheel width d satisfying B = D - 2d and D / 4≤d<D / 3, and the stripe width W presented by the working area. It should be noted that the values in Table 1 are not a limitation on the values of the path offset B, the wheel outside span D, and the single-side wheel width d, but are only used to illustrate that the path offset B, the wheel outside span D, and the single-side wheel width d satisfying B = D - 2d and D / 4≤d<D / 3 can achieve the above technical effects, wherein all the values in Table 1 are in mm.

[0103] Table 1 B = D - 2d, D / 4≤d<D / 3

[0104] Wheel outside span D Single wheel width d Path offset B Stripe width W 400 100 200 200 500 150 200 200 600 180 240 240 700 200 300 300 800 240 320 320

[0105] It can be seen that the above scheme can make the working area present the visual effect of the first color stripe and the second color stripe which are alternately distributed and have no gap and uniform width. Further, since the stripe width W is equal to the path offset B, when designing the wheel outside span D and the single-side wheel width d of the automatic mower 100, the designer can determine the value range of the path offset B according to the user's demand for the stripe width W, thereby deducing the value range of the wheel outside span D and the single-side wheel width d. In addition, the user can also set the selected path offset B according to the preferred stripe width W. Therefore, the above scheme not only can make the lawn beautiful, relieve visual fatigue, save human resources and economic cost, but also can simplify the design work of the designer and facilitate the selection and setting of the user.

[0106] In some embodiments, the path offset B is controlled such that the path offset B, the wheel outside span D and the single-side wheel width d satisfy: B < D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm, so that the distance R1 between two adjacent indentations formed in different directions of travel in the plurality of indentations generated by the moving assembly 103 satisfies: 0 ≤ R1 ≤ 40mm, and the distance R2 between two adjacent indentations formed in the same direction of travel satisfies: R2 ≤ 0mm. Through experiments, it is found that, since the distance R1 between two adjacent indentations formed in different directions of travel is controlled within 0-40mm, the distance R1 is small, and when the working area is large enough, such as a standard football field (90-120m long and 45-90m wide), the distance is close to zero in visual effect, i.e. negligible. When the path offset B, the wheel outside span D and the single-side wheel width d satisfy: B < D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm, the working area can obtain the first color stripe and the second color stripe with alternating small distance distribution (R1 = 0-40mm) and uniform width, and since the distance R2 ≤ 0mm and the distance R1 is controlled within 0-40mm, the gap is small, and in visual effect, the working area still presents the first color stripe and the second color stripe with alternating no-gap distribution and uniform width.

[0107] The above scheme will be described below. Figure 10 The above scheme will be described below. Figure 10 In the embodiment shown in FIG. 6, the path offset B = 180mm, the wheel outside span D = 400mm, and the single-side wheel width d = 100mm, which satisfy: B < D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm. During the movement of the automatic mower 100, steps S100-S130 are repeatedly executed, and in the plurality of indentations generated by the moving assembly 103, the distance between two adjacent indentations formed in different directions of travel is small (distance R1 = 20mm), which can be ignored in visual effect. However, the two adjacent indentations formed in the same direction of travel partially overlap (R2 = -40mm), and since the directions of lodging of the grass under the two indentations are the same, the final result is still a stripe of the same color. Therefore, in visual effect, the working area still presents the first color stripe and the second color stripe with alternating no-gap distribution and uniform width, and in this embodiment, the stripe width W = 160mm.

[0108] As shown in Table 2, some values of the path offset B, the wheel outside span D, the single wheel width d, and the stripe width W and the interval R1, the interval R2 presented by the working area to meet B < D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm. It should be noted that the values in Table 2 are not limited to the values of the path offset B, the wheel outside span D, and the single wheel width d. They are only used to illustrate that the path offset B, the wheel outside span D, and the single wheel width d meeting B < D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm can achieve the above technical effects. All the values in Table 2 are in mm.

[0109] Table 2 B < D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm

[0110] Wheel outside span D Single wheel width d Path offset B Pitch R1 Pitch R2 Stripe width W 400 100 180 20 -40 160 500 130 220 20 -60 200 600 150 280 20 -40 260 700 180 330 10 -40 320 800 200 380 20 -40 360

[0111] As summarized from Table 2, the path offset B, the interval R1, and the stripe width W meet W = B - R1. Since R1 = 0-40mm, it can be ignored in visual effect, so W ≈ B. When designing the wheel outside span D and the single wheel width d of the automatic mower 100, the designer can still determine the value range of the path offset B according to the user's demand for the stripe width W, thereby deducing the value range of the wheel outside span D and the single wheel width d. In addition, the user can also set the selected path offset B according to the preferred stripe width W.

[0112] In some embodiments, the path offset B, the wheel outside span D and the single wheel width d satisfy: B > D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm, so that the distance R2 between two adjacent tracks formed by the moving assembly 103, along which the grass under the tracks is laid in the same direction of travel, satisfies: 0 ≤ R2 ≤ 40mm, and the distance R1 between two adjacent tracks formed by the moving assembly 103, along which the grass under the tracks is laid in different directions of travel, satisfies: -40mm ≤ R1 ≤ 40mm. It should be noted that when -40mm ≤ R1 ≤ 0mm, i.e. the two adjacent tracks formed by the moving assembly 103 along different directions of travel have an overlapping part, and the overlapping part is rolled once by the moving assembly 103 along the first direction of travel, and is also rolled once by the moving assembly 103 along the second direction of travel, the visual effect of the overlapping part is the same as that of the area which is not rolled by the moving assembly 103, i.e. when the two adjacent tracks formed by the moving assembly 103 along different directions of travel have an overlapping part, the distance between the two adjacent tracks is visually perceived. Through experiments, it is found that since the absolute values of the distance R1 and the distance R2 are controlled within 0-40mm, the distance is small, and when the working area is large enough, such as a standard football field (90-120m long and 45-90m wide), the distance R1 and the distance R2 are close to zero in visual effect, i.e. negligible. When the path offset B, the wheel outside span D and the single wheel width d satisfy: B > D-2d, d ≥ D / 4, and 2d-40mm ≤ B ≤ 2d+20mm, the working area can obtain the first color stripes and the second color stripes which are alternately distributed with small gaps and have uniform widths, and since the absolute values of the distance R1 and the distance R2 are controlled within 0-40mm, the gap is small, and in visual effect, the working area still presents the first color stripes and the second color stripes which are alternately distributed without gaps and have uniform widths.

[0113] The above scheme will be described below. Figure 11 The above scheme will be described below. Figure 11In the illustrated embodiment, the path offset B = 220 mm, the wheel outside span D = 400 mm, and the single-side wheel width d = 100 mm, which satisfy B > D - 2d, d ≥ D / 4, and 2d - 40 mm ≤ B ≤ 2d + 20 mm. During the movement of the automatic mower 100, the plurality of indentations generated by the movement assembly 103 have a spacing R2 (R2 = 40 mm) between two adjacent indentations formed in the same direction of travel, which is negligible in visual effect, and the two adjacent indentations formed in the same direction of travel still present the same color stripes due to the same direction of lodging of the grass under the two indentations. During the movement of the automatic mower 100, the plurality of indentations generated by the movement assembly 103 have a spacing R1 (R1 = 20 mm) between two adjacent indentations formed in different directions of travel, which is negligible in visual effect. Therefore, in visual effect, the working area still presents the first color stripes and the second color stripes that are alternately and uniformly distributed without gaps, and the stripe width W is 200 mm in this embodiment.

[0114] As shown in Table 3, some values of the path offset B, the wheel outside span D, and the single-side wheel width d, and the stripe width W and the spacings R1 and R2 presented by the working area satisfy B > D - 2d, d ≥ D / 4, and 2d - 40 mm ≤ B ≤ 2d + 20 mm. It should be noted that the values in Table 3 are not a limitation on the values of the path offset B, the wheel outside span D, and the single-side wheel width d, but are only used to illustrate that the path offset B, the wheel outside span D, and the single-side wheel width d that satisfy B > D - 2d, d ≥ D / 4, and 2d - 40 mm ≤ B ≤ 2d + 20 mm can achieve the above technical effects, where all the values in Table 3 are in mm.

[0115] Table 3 B > D - 2d, d ≥ D / 4, and 2d - 40 mm ≤ B ≤ 2d + 20 mm

[0116] Wheel outside span D Single wheel width d Path offset B Pitch R1 Pitch R2 Stripe width W 400 100 220 20 40 200 500 130 250 10 0 240 600 150 310 -10 20 300 700 180 350 -10 0 340 800 200 410 10 20 400

[0117] As summarized from Table 3, the stripe width W, the path offset B, and the spacing R1 satisfy W = B - |R1|. Since |R1| = 0-40 mm, which is negligible in visual effect, W ≈ B. When designing the wheel outside span D and the single-side wheel width d of the automatic mower 100, the designer can still determine the value range of the path offset B according to the user's demand for the stripe width W, thereby deducing the value range of the wheel outside span D and the single-side wheel width d. In addition, the user can also set the selected path offset B according to the preferred stripe width W.

[0118] In some embodiments, the spacing between two adjacent indentations is not limited, nor is the width of the stripes of varying shades in the working area uniform. In this case, the path offset B, the outer wheel span D, and the single-sided wheel width may not satisfy the relationships in Tables 1, 2, and 3 above. The working area can still ultimately present the visual effect of alternating first-color stripes and second-color stripes. Preferably, the path offset B is controlled to satisfy: 4 / 5 × (D-2d) ≤ B ≤ 6 / 5 × (D-2d).

[0119] In some embodiments, to make the stripes in the final working area more aesthetically pleasing, such as Figure 2 As shown, it is also necessary to control the distance X between the outer side of the moving wheel 1031 and the inner side of the moving wheel 1032 (or the outer side of the moving wheel 1033 and the inner side of the moving wheel 1034) on the same side of the body 101, perpendicular to the traveling direction of the moving component 103. This is because if the distance is too large, visually, a large gap will appear in the middle of each indentation generated by the movement of the moving component 103, and an excessively large gap will affect the aesthetics of the final stripes. Preferably, the distance X is controlled to be ≤40mm, so that visually, the gap in the middle of the indentation can be ignored.

[0120] Figure 13 This is a schematic diagram of the structure of an automatic lawnmower 100 in some embodiments. The automatic lawnmower 100 includes: a body 101; and a cutting module 102, mounted on the body 101, for performing cutting tasks. Figure 13 As shown, the automatic lawnmower 100 also includes: a moving component 103, mounted on the body 101, used to move the body 101, in conjunction with... Figure 2 It is understood that the moving component 103 includes moving wheels 1031 and 1032 located on one side of the fuselage 101, and moving wheels 1033 and 1034 located on the other side of the fuselage 101; the control module 104 is used to control the moving component 103 to move alternately along a path in a first direction of travel and a path in a second direction of travel within the working area, such as... Figure 8 As shown, the paths in the first and second directions of travel are basically parallel and opposite in direction. The path offset B between adjacent paths in the first and second directions of travel is determined based on the outer span D of the automatic lawnmower 100 wheels and the width d of a single wheel.

[0121] In some embodiments, while the moving component 103 moves along a path in a first direction of travel or along a path in a second direction of travel, the control module 104 controls the cutting module 102 to perform a cutting task. In this way, the automatic lawnmower 100 traverses the work area, not only forming alternating dark and light colored stripes, but also performing the lawnmower task, saving human resources and economic costs.

[0122] In some embodiments, the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: 4 / 5 x (D-2d)≤B≤6 / 5 x (D-2d). When the control module 104 controls the movement assembly 103 to move at a path offset B within the above range, the working area can present a visual effect of alternately and evenly distributed first color stripes and second color stripes.

[0123] In some embodiments, the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: B=D-2d, D / 4≤d<D / 3. When the control module 104 controls the movement assembly 103 to move at a path offset B within the above range, the distance R between two adjacent indentations generated by the movement assembly 103 can be less than or equal to zero, so that the working area can present a visual effect of alternately and evenly distributed first color stripes and second color stripes, and the stripe width W is equal to the path offset B.

[0124] In some embodiments, the path offset B, the wheel outside span D, and the single-side wheel width d satisfy: B<D-2d, d≥D / 4, and 2d-40mm≤B≤2d+20mm. When the control module 104 controls the movement assembly 103 to move at a path offset B within the above range, the distance R1 between two adjacent indentations under which the grasses along different directions of travel are laid can satisfy: 0mm≤R1≤40mm, and the distance R2 between two adjacent indentations under which the grasses along the same direction of travel are laid can satisfy: R2≤0mm, so that the working area can present a visual effect of alternately and evenly distributed first color stripes and second color stripes, and due to the distance R2≤0mm and the distance R1 being controlled within 0-40mm, the gap is small, and the working area still presents a visual effect of alternately and evenly distributed first color stripes and second color stripes, and the path offset B, the distance R1, and the stripe width W satisfy: W=B-R1.

[0125] In some embodiments, the path offset B, the wheel outer side span D and the single side wheel width d satisfy: B > D - 2d, d > D / 4, and 2d - 40mm < B < 2d + 20mm. When the control module 104 controls the movement assembly 103 to move at a path offset B within the above range, the two adjacent tracks generated by the movement assembly 103 can make the two adjacent tracks under the grass in the same direction of travel satisfy: 0mm < R2 < 40mm, and the two adjacent tracks under the grass in different directions of travel satisfy: -40mm < R1 < 40mm, so that the working area can obtain the first color stripes and the second color stripes with alternating small interval distribution and uniform width, and because the absolute values of the interval R1 and the interval R2 are less than or equal to 40mm, the gap is small, and in the visual effect, the working area still presents the first color stripes and the second color stripes with alternating no gap distribution and uniform width, and the path offset B, the interval R1 and the stripe width W satisfy: W = B - |R1|.

[0126] In some embodiments, in order to make the stripes formed in the working area more beautiful, as shown in Figure 2 , the control module 104 also needs to control the interval X between the outer side of the moving wheel 1031 and the inner side of the moving wheel 1032 (or the outer side of the moving wheel 1033 and the inner side of the moving wheel 1034) on the same side of the machine body 101 in the direction perpendicular to the direction of travel of the movement assembly 103, because if the interval is too large, in the visual effect, a large gap will appear in the middle of each track generated by the movement assembly 103, and the large gap will affect the beauty of the stripes formed finally. Preferably, the above interval X < 40mm, so that in the visual effect, the gap in the middle of the track can be ignored.

[0127] In some embodiments, the control module 104 of the automatic mower 100 performs steps S100-S130 as shown in Figure 3 . In the above control method, the control module 104 needs to control the path offset B, so that the two tracks in the same direction of travel of the movement assembly 103 can make the two adjacent tracks in the middle satisfy: 0mm < R2 < 40mm, and the two adjacent tracks in different directions of travel satisfy: -40mm < R1 < 40mm. Figure 7 As shown in Figure 7 , the two adjacent tracks 1 and 3 in the first direction of travel of the automatic mower 100 can make the four tracks generated by the two adjacent tracks, i.e. the track 1, the track 2, the track 5 and the track 6, have the two adjacent tracks in the middle, i.e. the track 2 and the track 5.

[0128] In the above control method, the control module 104 also needs to control the path offset B so that when the two adjacent paths in the first direction of travel (for example Figure 7 paths 1 and 3) are arranged alternately with the two adjacent paths in the second direction of travel (corresponding to Figure 7 paths 2 and 4, i.e., paths 1-4 are arranged alternately in the first direction of travel and the second direction of travel), the above-mentioned two adjacent first impressions (such as impressions 2 and 5) are adjacent to the above-mentioned two adjacent second impressions (corresponding to impressions 4 and 7). That is, as Figure 7 shown, the first color stripe formed by the two adjacent first impressions 2 and 5 is adjacent to the second color stripe formed by the two adjacent second impressions 4 and 7.

[0129] When the control module 104 controls the automatic mower 100 to repeatedly perform steps S100-S130 in the working area, a plurality of adjacent first color stripes and second color stripes, i.e., the first color stripe and the second color effect alternately distributed as Figure 8 shown, can be generated to achieve an aesthetic or visual fatigue relief effect. The first color stripe and the second color stripe are alternately and spacedly distributed, which not only looks beautiful, but also relieves the visual fatigue of personnel who need to gaze at the lawn for a long time, such as players, referees, and spectators on a football field.

[0130] The path offset B is calculated and determined according to the wheel outside span D and the single-side wheel width d of the automatic mower 100.

[0131] Generally, the wheel width and the relative position relationship of each wheel of the automatic mower 100 are determined during the production and manufacturing stage, i.e., the wheel outside span D and the single-side wheel width d can be determined during the production and manufacturing stage of the automatic mower 100, so that the path offset B can be calculated according to the determined wheel outside span D and the single-side wheel width d before the automatic mower 100 is sold, and stored in the automatic mower 100 or an external device as one of the configuration parameters of the automatic mower 100. The stored path offset B can be a fixed value or different values corresponding to different distances between the two adjacent impressions generated by the moving assembly 103. The user can select and set the corresponding parameters according to the task requirements or the user's own preferences before the automatic mower 100 performs a certain task, so that the control module 104 obtains different path offsets B to control the movement of the moving assembly 103 and obtains the corresponding stripe visual effect.

[0132] In some embodiments, the automatic mower 100 can obtain the wheel outside span D and the single-side wheel width d before being sold, and then calculate the value or value range of the path offset B according to the relationship among the path offset B, the wheel outside span D and the single-side wheel width d. The automatic mower 100 can obtain the wheel outside span D and the single-side wheel width d in a manual input manner or in an automatic sensor data acquisition manner. In other embodiments, the automatic mower 100 can also obtain the wheel outside span D and the single-side wheel width d after being sold, and then calculate the value or value range of the path offset B according to the relationship among the path offset B, the wheel outside span D and the single-side wheel width d. The automatic mower 100 can obtain the wheel outside span D and the single-side wheel width d in a manual input manner or in an automatic sensor data acquisition manner. In some embodiments, the user can input or select a specific stripe visual effect, and the automatic mower 100 can calculate the corresponding path offset B according to the obtained wheel outside span D, the single-side wheel width d and the user-set stripe visual effect. The control module 104 obtains the path offset B and controls the movement assembly 103 to move in the working area according to the path offset B, so as to obtain the user-desired stripe visual effect.

[0133] Figure 14 A structural schematic diagram of the mower control device 200 in some embodiments is shown. The mower control device 200 includes a configuration parameter acquisition module 201 configured to acquire the configuration parameters of the automatic mower 100 when the automatic mower 100 is located in the working area, and a storage module 202 storing the configuration parameters of the automatic mower 100, wherein the path offset B is included. The mower control device 200 is configured to acquire the path offset B from the storage module 202 by the configuration parameter acquisition module 201 when the automatic mower 100 is located in the working area, and then perform steps S100-S130.

[0134] The mower control device 200 controls the automatic mower 100 to move according to the path offset B obtained from the storage module 202, so that the two middle imprints are adjacent in the four imprints generated by the adjacent two paths in the same advancing direction. As shown in FIG. 6, the adjacent path 1 and path 3 in the first advancing direction of the automatic mower 100 generate four imprints, i.e., imprints 1, 2, 5 and 6, and the two middle imprints, i.e., imprints 2 and 5, are adjacent. Figure 7 As shown in FIG. 7, the adjacent path 2 and path 5 in the second advancing direction of the automatic mower 100 generate four imprints, i.e., imprints 3, 4, 7 and 8, and the two middle imprints, i.e., imprints 4 and 7, are adjacent. Figure 7 As shown in FIG. 7, the adjacent path 2 and path 5 in the second advancing direction of the automatic mower 100 generate four imprints, i.e., imprints 3, 4, 7 and 8, and the two middle imprints, i.e., imprints 4 and 7, are adjacent.

[0135] In the above control method, the lawn mowing control device 200 also needs to control the path offset B so that when two adjacent paths in the first traveling direction (e.g., ...) are... Figure 7 When paths 1 and 3 shown are alternated with the two adjacent paths in the second direction of travel (corresponding to...) Figure 7 Paths 2 and 4 shown (i.e., paths 1 to 4 are arranged alternately in the first and second travel directions) have two adjacent first indentations (e.g., indentation 2 and indentation 5) adjacent to two adjacent second indentations (corresponding to indentation 4 and indentation 7). That is, as shown... Figure 7 As shown, the first color stripe formed by two adjacent first indentations 2 and 5 is adjacent to the second color stripe formed by two adjacent second indentations 4 and 7.

[0136] When the mowing control device 200 controls the automatic lawnmower 100 to repeatedly execute steps S100-S130 within the working area, multiple adjacent first-color stripes and second-color stripes can be generated, that is, as shown in the image. Figure 8 The alternating light and dark stripes of the first and second colors are designed to enhance aesthetics and alleviate visual fatigue. The alternating distribution of the first and second color stripes is not only visually appealing but also helps reduce visual strain for those who need to focus on the grass for extended periods, such as players, referees, and spectators on a football field.

[0137] Figure 15 This is a schematic diagram of another automatic lawnmower 300 provided in some embodiments. The automatic lawnmower 300 includes: a memory 1001, a processor 1002, and a computer program stored in the memory 1001 and executable on the processor 1002. When the processor 1002 executes the program, it implements the self-moving device work plan scheduling method provided in the above embodiments.

[0138] Further, the automatic mower 300 further comprises a communication interface 1003 for communication between the memory 1001 and the processor 1002. The memory 1001 is configured to store a computer program executable on the processor 1002. The memory 1001 can include a high-speed RAM memory, and can also include a non-volatile memory such as at least one disk memory. The processor 1002 is configured to execute the program to implement the self-moving device work plan scheduling method described in the above embodiments. If the memory 1001, the processor 1002 and the communication interface 1003 are independently implemented, the communication interface 1003, the memory 1001 and the processor 1002 can be connected to each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 15 Only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0139] Alternatively, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can complete communication between each other through an internal interface. The processor 1002 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0140] The present application also provides a computer device comprising a memory and a processor, the memory storing a computer program, and the processor executing the computer program stored in the memory to implement the method steps of the automatic mower 100 and the mower control device 200 as described above.

[0141] The present application also provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method steps of the automatic mower 100 and the mower control device 200 as described above.

[0142] The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method steps of the automatic mower 100, the mower control device 200 as described above.

[0143] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some embodiments" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0144] Any process or method descriptions or descriptions of the flow diagrams in the flow charts described herein and elsewhere can be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing the specified logical functions or steps, and the preferred embodiments of the application include additional or fewer steps, in a different order, or with additional functions. Such functions can be carried out in any order, including substantially contemporaneously or in reverse order, as will be appreciated by those skilled in the art, without departing from the scope of the embodiments of the application, the disclosure of which is to be understood as being made with respect to this implementation as well as with respect to any other implementations.

[0145] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of instructions to implement logic functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. In the context of this specification, a "computer-readable medium" can be any means that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a machine-readable storage device (e.g., magnetic, optical or other) a machine-readable storage diskette (e.g., floppy, flexible or other), a machine-readable storage card (e.g., ROM, EEPROM, flash memory or other), a machine- readable storage tape (e.g., magnetic, optical or other), a machine-readable storage medium (e.g., a portable electronic device, a computer diskette, a computer memory, a broadcast transmission, or the like), or a machine-readable interface device (e.g., a wireless link, optical link or other). The computer-readable medium can also be, or be included in, a computer program product apparatus that tangibly embodies the programming of instructions. The instructions can be executable by a processor of the instruction execution system, apparatus, or device. In another embodiment, the logic and / or steps represented in flow diagrams or otherwise described herein can be considered as a sequence of logic elements, such as steps, functions, or the like, that can be embodied in any computer-readable medium for execution by an instruction execution system, apparatus, or device.

[0146] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. As such, in some embodiments, the logic and / or steps represented in flow diagrams can be embodied in a computer-readable medium that includes instructions for execution by a processor. In another embodiment, the logic and / or steps represented in flow diagrams can be implemented in hardware, such as with any one or a combination of discrete logic circuitry, application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), etc.

[0147] Those of skill in the art would understand that information and signals can be represented using any of a variety of technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0148] In addition, each function unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0149] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling an automatic mower, the automatic mower comprising: a body; a cutting module mounted on the body for performing a cutting task; a moving assembly mounted on the body for moving the body, the moving assembly comprising a moving wheel on one side of the body and a moving wheel on the other side of the body; the method comprising: a. controlling the automatic mower to move along a first path having a first advancing direction, in the moving, the moving wheels on both sides of the body generate two first tracks on the grass, and the grass under the first tracks is laid along the first advancing direction; b. controlling the automatic mower to move along a second path having a second advancing direction, the second path is offset from the first path by a path offset B, the second advancing direction is opposite to the first advancing direction, in the moving, the moving wheels on both sides of the body generate two second tracks on the grass, and the grass under the second tracks is laid along the second advancing direction; c. controlling the automatic mower to move along a third path having the first advancing direction, the third path is offset from the second path by the path offset B, in the moving, the moving wheels on both sides of the body generate two first tracks on the grass; d. controlling the automatic mower to move along a fourth path having the second advancing direction, the fourth path is offset from the third path by the path offset B, in the moving, the moving wheels on both sides of the body generate two second tracks on the grass; wherein the path offset B is configured such that, in the four first tracks generated by the moving wheels on two adjacent paths in the first advancing direction, the two first tracks in the middle are adjacent, in the four second tracks generated by the moving wheels on two adjacent paths in the second advancing direction, the two second tracks in the middle are adjacent, and the adjacent two first tracks are adjacent to the adjacent two second tracks. 2.The method according to claim 1, wherein: the cutting module is arranged between the moving wheels on both sides of the body, and the cutting module performs the cutting task when the automatic mower moves along the path in the first advancing direction or moves along the path in the second advancing direction.

3. The method of claim 1, wherein, the method comprises: the automatic mower acquires different task instructions, and controls the path offset B such that the distance between the adjacent two tracks generated by the moving wheels in step d is different.

4. The method of claim 1, wherein, the method comprises: the path offset B is acquired from the configuration parameters pre-configured in the automatic mower; the path offset B is determined according to the wheel outside span D and the single-side wheel width d of the automatic mower.

5. The method of claim 1, wherein, the method comprises: the wheel outside span D and the single-side wheel width d of the automatic mower are acquired; the path offset B is determined according to the wheel outside span D and the single-side wheel width d of the automatic mower.

6. The method according to claim 4 or 5, characterized in that, the method comprises: the path offset B is controlled such that the path offset B, the wheel outside span D and the single-side wheel width d satisfy: 4 / 5×(D-2d)≤B≤6 / 5×(D-2d).

7. The method of claim 6, wherein, the method comprises: The path offset B is controlled so that the distance between two adjacent imprints generated by the moving wheels in step d is less than or equal to zero; wherein the path offset B, the wheel outside span D and the single wheel width d satisfy: B = D - 2d, D / 4 ≤ d < D / 3.

8. The method of claim 6, wherein, The method comprises: The path offset B is controlled so that the distance R1 between two adjacent imprints under which the grasses along different travel directions are laid down is 0mm ≤ R1 ≤ 40mm, and the distance R2 between two adjacent imprints under which the grasses along the same travel direction are laid down is R2 ≤ 0mm; wherein the path offset B, the wheel outside span D and the single wheel width d satisfy: B < D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm.

9. The method of claim 6, wherein, The method comprises: The path offset B is controlled so that the distance R2 between two adjacent imprints under which the grasses along the same travel direction are laid down is 0mm ≤ R2 ≤ 40mm, and the distance R1 between two adjacent imprints under which the grasses along different travel directions are laid down is -40mm ≤ R1 ≤ 40mm; wherein the path offset B, the wheel outside span D and the single wheel width d satisfy: B > D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm.

10. The method according to any one of claims 1-5, wherein: The moving wheels on one side of the machine body and the moving wheels on the other side of the machine body both comprise moving wheels on the front of the machine body and moving wheels on the back of the machine body; The distance X between the outside of the moving wheels on the front of the machine body and the inside of the moving wheels on the back of the machine body on the same side of the machine body along the direction perpendicular to the travel direction of the moving assembly satisfies: X ≤ 40mm.

11. An automatic lawnmower, characterized in that The automatic mower comprises: A machine body; A cutting module mounted on the machine body for performing a cutting task; A moving assembly mounted on the machine body for moving the machine body, the moving assembly comprising moving wheels on one side of the machine body and moving wheels on the other side of the machine body; A control module for controlling the moving assembly to move along a first travel direction path and a second travel direction path alternately in a working area; the first travel direction path and the second travel direction path are substantially parallel and opposite in direction, wherein the path offset B between adjacent first travel direction path and second travel direction path is determined according to the wheel outside span D and the single wheel width d of the automatic mower, and the path offset B, the wheel outside span D and the single wheel width d satisfy: 4 / 5 × (D - 2d) ≤ B ≤ 6 / 5 × (D - 2d).

12. The automatic lawnmower according to claim 11, characterized in that, When the moving assembly moves along the first travel direction path and the second travel direction path alternately, the control module controls the cutting module to perform a cutting task, and the cutting module is located between the moving wheels on both sides of the machine body.

13. The automatic mower according to claim 11, wherein: The path offset B, the wheel outside span D and the single-side wheel width d satisfy: B = D - 2d, D / 4 ≤ d < D / 3.

14. The automatic mower of claim 11, wherein: The path offset B, the wheel outside span D and the single-side wheel width d satisfy: B < D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm.

15. The automatic mower of claim 11, wherein: The path offset B, the wheel outside span D and the single-side wheel width d satisfy: B > D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm.

16. The automatic mower of any one of claims 11-15, wherein: The moving wheels on one side of the body and the moving wheels on the other side of the body both include moving wheels at the front of the body and moving wheels at the back of the body; The distance X between the outside of the moving wheel at the front of the body on the same side of the body and the inside of the moving wheel at the back of the body satisfies: X ≤ 40mm.

17. An automatic lawnmower, characterized in that The automatic mower comprises: A body; A cutting module mounted on the body for performing a cutting task; A moving assembly mounted on the body for moving the body, the moving assembly comprising moving wheels on one side of the body and moving wheels on the other side of the body; A control module for performing the following steps when the automatic mower is in a working area: g. controlling the automatic mower to move along a first path having a first moving direction, in the moving, the moving wheels on both sides of the body generate two first impressions on the lawn, the grass under the first impressions is laid along the first moving direction; h. controlling the automatic mower to move along a second path having a second moving direction, the second path is offset from the first path by a path offset B, the second moving direction is opposite to the first moving direction, in the moving, the moving wheels on both sides of the body generate two second impressions on the lawn, the grass under the second impressions is laid along the second moving direction; j. controlling the automatic mower to move along a third path having a first moving direction, the third path is offset from the second path by a path offset B, in the moving, the moving wheels on both sides of the body generate two first impressions on the lawn; k. controlling the automatic mower to move along a fourth path having a second moving direction, the fourth path is offset from the third path by a path offset B, in the moving, the moving wheels on both sides of the body generate two second impressions on the lawn; Wherein, the path offset B is configured such that, among the four first impressions generated by the moving wheels on the adjacent two paths in the first moving direction, the two first impressions in the middle are adjacent, among the four second impressions generated by the moving wheels on the adjacent two paths in the second moving direction, the two second impressions in the middle are adjacent, and the adjacent two first impressions and the adjacent two second impressions are adjacent.

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