Self-moving device, control method of self-moving device, and mower control device

Abstract

This invention relates to a self-moving device, comprising: a body; a grass-pressing mechanism, including a grass-pressing component located on one side of the body and a grass-pressing component located on the other side of the body, the grass-pressing mechanism can produce indentations on the grass located on one side of the body and on the other side of the body, the width of the indentations on both sides being equal; a controller configured to: control the self-moving device to traverse and move N times within a working area on the grass, where N is an odd number greater than or equal to 1; in a single traversal movement, control the self-moving device to move along multiple parallel paths with equal spacing, the path spacing between adjacent paths in a single traversal movement being B, and the directions being opposite, so that the grass-pressing mechanism produces indentations in a first direction and indentations in a second direction on the grass; the paths of different single traversal movements in the N traversal movements do not overlap and are parallel to each other; after the N traversal movements, the directions of adjacent paths formed by the N traversal movements are opposite, the path spacing between adjacent paths is B', B' = B / N.

Description

Self-moving device, control method of self-moving device and mowing control device Technical Field

[0001] The present invention relates to the technical field of self-moving equipment, and in particular to a self-moving equipment and a control method thereof, a mowing control device, a computer device, a storage medium and a computer program product. Background Art

[0002] Football field turf often features alternating stripes of varying shades, both for aesthetic reasons and to reduce visual fatigue for spectators and players. To achieve this, professionals typically use specialized rollers to compact the turf before each match, creating distinct indentations. Because the grass falls in different directions, the resulting indentations reflect light, creating a visual effect of varying shades. Additionally, chemical and biological methods are used to treat the turf to achieve this alternating stripes. For example, special fertilizers or sprays with greening agents can be used to alter the turf's color. Different concentrations of nitrogen and potassium fertilizers can also be used to alter the turf's color.

[0003] In the prior art, whether it is to use a mechanical lawn mower with a pressure roller to press the lawn, or other chemical or biological methods, it requires additional human resources and / or economic costs in addition to the daily lawn mowing work.

[0004] Summary of the Invention

[0005] Based on this, the present invention aims to solve the problem of wasting human resources or economic costs in the prior art and provides a self-moving device and a control method thereof, as well as a control device to improve the problem of wasting human resources or economic costs in the prior art.

[0006] In a first aspect, a self-propelled device is provided, wherein the self-propelled device can move on a grassy area, and the self-propelled device comprises:

[0007] body;

[0008] a grass pressing mechanism mounted on the body, the grass pressing mechanism comprising a grass pressing assembly located on one side of the body and a grass pressing assembly located on the other side of the body, configured to generate an indentation located on one side of the body and an indentation located on the other side of the body on the grass when the self-propelled device moves on the grass, wherein the indentation located on one side of the body and the indentation located on the other side of the body are equal in width;

[0009] a controller, mounted on the body, for controlling the movement of the self-moving device within a working area on the grass;

[0010] It is characterized in that the controller is configured as follows:

[0011] Control the self - moving device to traverse and move N times within the working area on the grass, where N is an odd number greater than or equal to 1;

[0012] In a single traversal movement, control the self - moving device to move along multiple parallel paths with equal spacing. The path spacing between adjacent paths in the single traversal movement is B, and the directions of adjacent paths in the single traversal movement are opposite, so that the grass - pressing mechanism produces indentations in the first direction and the second direction on the grass;

[0013] The paths of different single traversal movements in the N traversal movements do not overlap and are parallel to each other; after N traversal movements, the directions of adjacent paths formed by the N traversal movements are opposite, and the path spacing between adjacent paths formed by the N traversal movements is B', B' = B / N;

[0014] Determine the path spacing B so that the grass - pressing mechanism produces multiple indentations in the first direction and the second direction on the grass, and the indentations in the first direction and the second direction are adjacent and arranged at intervals.

[0015] In some embodiments, the self - moving device includes a moving component installed on the body for driving the body to move. The moving component includes moving wheels on one side of the body and moving wheels on the other side of the body; the grass - pressing component includes the moving wheels.

[0016] In some embodiments, the path spacing B is determined according to the outer span D between the indentations on one side of the body and the indentations on the other side of the body and the width d of a single - side indentation; the path spacing B, the outer span D, and the width d of a single - side indentation satisfy: 4 / 5ⅹN(D - 2d) ≤ B ≤ 6 / 5ⅹN(D - 2d).

[0017] In some embodiments, the path spacing B, the outer span D, and the width d of a single - side indentation satisfy: B = N(D - 2d), D / 4 ≤ d < D / 3, so that the spacing between two adjacent indentations among the multiple indentations produced by the grass - pressing mechanism is less than or equal to zero.

[0018] In some embodiments, the path spacing B, the outer span D, and the width d of a single - side indentation satisfy: B < N(D - 2d), d ≥ D / 4, and N(2d - 40mm) ≤ B ≤ N(2d + 20mm), so that for the multiple indentations produced by the grass - pressing mechanism, the spacing R1 between two adjacent indentations in different directions satisfies: 0mm ≤ R1 ≤ 40mm, and the spacing R2 between two adjacent indentations in the same direction satisfies: R2 ≤ 0mm.

[0019] In some embodiments, the path spacing B, the outer span D and the width d of the single-sided indentation satisfy: B>N(D-2d), d≥D / 4, and N(2d-40mm)≤B≤N(2d+20)mm, so that among the multiple indentations generated by the grass pressing mechanism, the spacing R2 between two adjacent indentations in the same direction satisfies: 0mm≤R2≤40mm, and the spacing R1 between two adjacent indentations in different directions satisfies: -40mm≤R1≤40mm.

[0020] In some embodiments, the self-moving device is an automatic lawn mower, which further includes a cutting assembly mounted on the body for cutting grass on the lawn, and the center of the cutting assembly is located on the longitudinal axis of the body; the cutting width M of the cutting assembly perpendicular to the longitudinal axis and the path spacing B satisfy: NM≥B.

[0021] In some embodiments, the movable wheel located on one side of the fuselage and the movable wheel located on the other side of the fuselage both include a movable wheel located at the front of the fuselage and a movable wheel located at the rear of the fuselage; the spacing X between the movable wheel located at the front of the fuselage and the movable wheel located at the rear of the fuselage on the same side of the fuselage along a direction perpendicular to the travel direction of the movable component satisfies: X≤40mm.

[0022] In some embodiments, the self-moving device traverses and moves in the working area on the grass in a U-shaped path or a U-shaped path.

[0023] In a second aspect, a control method for a self-moving device is provided, wherein the self-moving device is movable on a grassy area, the self-moving device comprising:

[0024] body;

[0025] a grass pressing mechanism mounted on the body, the grass pressing mechanism comprising a grass pressing assembly located on one side of the body and a grass pressing assembly located on the other side of the body, configured to generate an indentation located on one side of the body and an indentation located on the other side of the body on the grass when the self-propelled device moves on the grass, wherein the indentation located on one side of the body and the indentation located on the other side of the body are equal in width;

[0026] a controller, mounted on the body, for controlling the movement of the self-moving device within a working area on the grass;

[0027] Characterized in that, the control method:

[0028] Controlling the self-moving device to traverse and move N times within the working area on the grass, where N is an odd number greater than or equal to 1;

[0029] In a single traversal movement, the self-moving device is controlled to move along a plurality of parallel paths with equal spacing, wherein the path spacing between adjacent paths of the single traversal movement is B, and the adjacent paths of the single traversal movement are in opposite directions, so that the grass pressing mechanism generates an indentation in a first direction and an indentation in a second direction on the grass;

[0030] The paths of different single traversal movements in the N traversal movements do not overlap and are parallel to each other; after the N traversal movements, the directions of adjacent paths formed by the N traversal movements are opposite, and the path spacing between adjacent paths formed by the N traversal movements is B', where B'=B / N;

[0031] The path spacing B is determined so that the grass pressing mechanism generates a plurality of indentations in a first direction and a plurality of indentations in a second direction on the grass, wherein the indentations in the first direction and the indentations in the second direction are adjacent to each other and arranged at intervals.

[0032] In some embodiments, the grass pressing mechanism includes a grass pressing component located on one side of the fuselage and a grass pressing component located on the other side of the fuselage; the self-moving device includes a moving component installed on the fuselage, used to drive the fuselage to move, and the moving component includes a moving wheel located on one side of the fuselage and a moving wheel located on the other side of the fuselage; the grass pressing component includes the moving wheel.

[0033] In some embodiments, the path spacing B is determined based on the outer span D between the indentation located on one side of the fuselage and the indentation located on the other side of the fuselage, and the width d of the single-sided indentation; the path spacing B, the outer span D, and the width d of the single-sided indentation satisfy: 4 / 5ⅹN(D-2d)≤B≤6 / 5ⅹN(D-2d).

[0034] In some embodiments, the self-moving device is an automatic lawn mower, which further includes a cutting assembly mounted on the body for cutting grass on the lawn, and the center of the cutting assembly is located on the longitudinal axis of the body; the cutting width M of the cutting assembly perpendicular to the longitudinal axis and the path spacing B satisfy: NM≥B.

[0035] In a third aspect, when N=1, a method for controlling a self-moving device is provided, the self-moving device comprising:

[0036] body;

[0037] A moving assembly is installed on the fuselage and is used to drive the fuselage to move. The moving assembly includes a moving wheel located on one side of the fuselage and a moving wheel located on the other side of the fuselage; the grass pressing assembly includes the moving wheel.

[0038] The method comprises:

[0039] a. controlling the self-moving device to move along a first path having a first travel direction, wherein during the movement, the moving wheels located on both sides of the self-moving device generate two indentations in the first direction on the grass, and the grass under the indentations in the first direction falls down along the first travel direction;

[0040] b. controlling the self-moving device to move along a second path having a second travel direction, the second path being offset from the first path by a path spacing B, the second direction being opposite to the first travel direction, and during movement, the moving wheels located on both sides of the body creating two indentations in the second direction on the grass, such that the grass beneath the indentations in the second direction falls down along the second travel direction;

[0041] c. controlling the self-moving device to move along a third path having the first direction of travel, the third path being offset from the second path by a path spacing B, such that during the movement, the moving wheels on both sides of the self-moving device generate two indentations in the first direction on the grass;

[0042] d. controlling the self-moving device to move along a fourth path having a second travel direction, the fourth path being offset from the third path by a path spacing B, wherein during the movement, the moving wheels located on both sides of the self-moving device generate two second indentations on the grass;

[0043] In which, the path spacing B is configured as follows: among the four first-direction indentations generated by the two adjacent paths of the moving wheel in the first traveling direction, the two first-direction indentations located in the middle are adjacent; among the four second-direction indentations generated by the two adjacent paths of the moving wheel in the second traveling direction, the two second-direction indentations located in the middle are adjacent, and the two adjacent first-direction indentations are adjacent to the two adjacent second-direction indentations.

[0044] In some embodiments, when the self-moving device is an automatic lawn mower, the automatic lawn mower further includes a cutting assembly, which is arranged between the moving wheels on both sides of the body. When the automatic lawn mower moves along the path in the first travel direction or along the path in the second travel direction, the cutting assembly performs a cutting task.

[0045] In some embodiments, the method includes: obtaining different task instructions from the mobile device, controlling the path spacing B, so that the spacing between two adjacent indentations among the multiple indentations generated by the moving wheel in step d is different.

[0046] In some embodiments, the method includes: obtaining the path spacing B from configuration parameters pre-configured in the self-moving device; the path spacing B is determined according to the outer side span D of the self-moving device and the width d of the single-side indentation.

[0047] In some embodiments, the method includes: obtaining the outer span D of the self - moving device and the width d of a single - side indentation; and determining the path spacing B according to the outer span D and the width d of the single - side indentation of the self - moving device.

[0048] In some embodiments, the method includes: controlling the path spacing B such that the path spacing B, the outer span D, and the width d of the single - side indentation satisfy: 4 / 5ⅹ(D - 2d) ≤ B ≤ 6 / 5ⅹ(D - 2d).

[0049] In some embodiments, the method includes: controlling the path spacing B such that in step d, the spacing between two adjacent indentations among the multiple indentations generated by the moving wheels is less than or equal to zero; wherein the path spacing B, the outer span D, and the width d of the single - side indentation satisfy: B = D - 2d, D / 4 ≤ d < D / 3.

[0050] In some embodiments, the method includes: controlling the path spacing B such that in step d, for two adjacent indentations among the multiple indentations generated by the moving wheels, the spacing R1 between two adjacent indentations where the grass under the indentations lies down in different traveling directions satisfies: 0mm ≤ R1 ≤ 40mm, and the spacing R2 between two adjacent indentations where the grass under the indentations lies down in the same traveling direction satisfies: R2 ≤ 0mm; wherein the path spacing B, the outer span D, and the width d of the single - side indentation satisfy: B < D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm.

[0051] In some embodiments, the method includes: controlling the path spacing B such that in step d, for two adjacent indentations among the multiple indentations generated by the moving wheels, the spacing R2 between two adjacent indentations where the grass under the indentations lies down in the same traveling direction satisfies: 0mm ≤ R2 ≤ 40mm, and the spacing R1 between two adjacent indentations where the grass under the indentations lies down in different traveling directions satisfies: - 40mm ≤ R1 ≤ 40mm; wherein the path spacing B, the outer span D, and the width d of the single - side indentation satisfy: B > D - 2d, d ≥ D / 4, and 2d - 40mm ≤ B ≤ 2d + 20mm.

[0052] In some embodiments, the method includes: both the moving wheels on one side of the fuselage and the moving wheels on the other side of the fuselage include the moving wheels at the front of the fuselage and the moving wheels at the rear of the fuselage; the spacing X between the outer side of the moving wheels at the front of the fuselage and the inner side of the moving wheels at the rear of the fuselage on the same side of the fuselage along the direction perpendicular to the traveling direction of the moving component satisfies: X ≤ 40mm.

[0053] Fourthly, a self - moving device is provided, and the self - moving device includes:

[0054] A fuselage;

[0055] A moving assembly is installed on the fuselage and is used to drive the fuselage to move. The moving assembly includes a moving wheel located on one side of the fuselage and a moving wheel located on the other side of the fuselage. The grass pressing assembly includes the moving wheel;

[0056] a controller, mounted on the body, for controlling the movement of the self-moving device within a working area on the grass;

[0057] The controller is configured as follows:

[0058] Controlling the self-moving device to traverse and move N times within the working area on the grass, where N is an odd number greater than or equal to 1;

[0059] In a single traversal movement, the self-moving device is controlled to move along a plurality of parallel paths with equal spacing, wherein the path spacing between adjacent paths of the single traversal movement is B, and the adjacent paths of the single traversal movement are in opposite directions, so that the grass pressing mechanism generates an indentation in a first direction and an indentation in a second direction on the grass;

[0060] The paths of different single traversal movements in the N traversal movements do not overlap and are parallel to each other; after the N traversal movements, the directions of adjacent paths formed by the N traversal movements are opposite, and the path spacing between adjacent paths formed by the N traversal movements is B', where B'=B / N;

[0061] The path spacing B is determined so that the grass pressing mechanism generates multiple indentations in a first direction and a second direction on the grass, and the indentations in the first direction and the indentations in the second direction are adjacent to each other and arranged at intervals; the path spacing B is determined based on the outer span D of the automatic lawn mower and the width d of the single-sided indentation, and the path spacing B, the outer span D, and the width d of the single-sided indentation satisfy: 4 / 5ⅹN(D-2d)≤B≤6 / 5ⅹN(D-2d).

[0062] In some embodiments, the self-moving device is an automatic lawn mower, which also includes a cutting assembly installed on the body for performing cutting tasks; when the moving assembly moves alternately along the path of the first travel direction and the path of the second travel direction, the controller controls the cutting assembly to perform the cutting task, and the cutting assembly is located between the moving wheels on both sides of the body.

[0063] In some embodiments, the path spacing B, the outer span D and the width d of the single-side indentation satisfy: B = N (D-2d), D / 4 ≤ d <D / 3。

[0064] In some embodiments, the path spacing B, the outer span D, and the width d of the unilateral indentation satisfy: B < N(D - 2d), d ≥ D / 4, and N(2d - 40 mm) ≤ B ≤ N(2d + 20 mm).

[0065] In some embodiments, the path spacing B, the outer span D, and the width d of the unilateral indentation satisfy: B > N(D - 2d), d ≥ D / 4, and N(2d - 40 mm) ≤ B ≤ N(2d + 20 mm).

[0066] In some embodiments, the moving wheels on one side of the fuselage and the moving wheels on the other side of the fuselage both include the moving wheels at the front of the fuselage and the moving wheels at the rear of the fuselage; the spacing X between the outer sides of the moving wheels at the front of the fuselage and the inner sides of the moving wheels at the rear of the fuselage on the same side of the fuselage along the direction perpendicular to the traveling direction of the moving component satisfies: X ≤ 40 mm.

[0067] In a fifth aspect, when N = 1, a self - moving device is provided, and the self - moving device includes:

[0068] A fuselage;

[0069] A moving component, installed on the fuselage and used to drive the fuselage to move, the moving component includes moving wheels on one side of the fuselage and moving wheels on the other side of the fuselage; the grass - pressing component includes the moving wheels;

[0070] A controller, configured to perform the following steps when the automatic lawn mower is within the working area:

[0071] g. Control the self - moving device to move along a first path with a first traveling direction. During the movement, the moving wheels on both sides of the fuselage generate two first indentations on the grass, and the grass under the first indentations lies down along the first traveling direction;

[0072] h. Control the self - moving device to move along a second path with a second traveling direction, the second path is offset from the first path by a path spacing B, the second traveling direction is opposite to the first traveling direction. During the movement, the moving wheels on both sides of the fuselage generate two second indentations on the grass, and the grass under the second indentations lies down along the second traveling direction;

[0073] j. Control the self - moving device to move along a third path with a first traveling direction, the third path is offset from the second path by a path spacing B. During the movement, the moving wheels on both sides of the fuselage generate two first indentations on the grass;

[0074] k. controlling the self-moving device to move along a fourth path having a second travel direction, wherein the fourth path is offset from the third path by a path spacing B, and during the movement, the moving wheels located on both sides of the body of the device generate two second indentations on the grass;

[0075] In which, the path spacing B is configured as follows: among the four first-direction indentations generated by the two adjacent paths of the moving wheel in the first traveling direction, the two first-direction indentations located in the middle are adjacent; among the four second-direction indentations generated by the two adjacent paths of the moving wheel in the second traveling direction, the two second-direction indentations located in the middle are adjacent, and the two adjacent first-direction indentations are adjacent to the two adjacent second-direction indentations.

[0076] In a sixth aspect, when the self-moving device is an automatic lawn mower and N=1, a lawn mowing control device is provided, the device comprising:

[0077] a configuration parameter acquisition module, configured to acquire configuration parameters of the automatic lawn mower when the automatic lawn mower is located in the working area;

[0078] A storage module for storing the configuration parameters, wherein the configuration parameters include a path spacing B;

[0079] The device is used to perform the following steps when the automatic lawn mower is located in the working area:

[0080] t. The configuration parameter acquisition module acquires the path spacing B from the storage module;

[0081] y. Controlling the automatic lawn mower to move along a first path having a first travel direction, wherein during the movement, the moving wheels located on both sides of the body generate two indentations in the first direction on the grass, and the grass under the indentations in the first direction falls down along the first travel direction;

[0082] u. Controlling the automatic lawn mower to move along a second path having a second travel direction, the second path being offset from the first path by a path spacing B, the second travel direction being opposite to the first travel direction, wherein during movement, the moving wheels located on both sides of the body create two indentations in the second direction on the grass, and the grass under the indentations in the second direction falls down along the second travel direction;

[0083] i. controlling the automatic lawn mower to move along a third path having a first travel direction, wherein the third path is offset from the second path by a path spacing B, so that during movement, the moving wheels located on both sides of the robot mower form two indentations in the first direction on the grass;

[0084] o. controlling the automatic lawn mower to move along a fourth path having a second travel direction, the fourth path being offset from the third path by a path spacing B, wherein during movement, the moving wheels located on both sides of the body create two indentations in the second direction on the grass;

[0085] In which, the path spacing B is configured as follows: among the four first-direction indentations generated by the two adjacent paths of the moving wheel of the automatic lawn mower in the first travel direction, the two first-direction indentations located in the middle are adjacent; among the four second-direction indentations generated by the two adjacent paths of the moving wheel of the automatic lawn mower in the second travel direction, the two second-direction indentations located in the middle are adjacent, and the two adjacent first-direction indentations are adjacent to the two adjacent second-direction indentations.

[0086] In a seventh aspect, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the method steps of the above-mentioned automatic lawn mower and lawn mowing control device when executing the computer program.

[0087] In an eighth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method steps of the above-mentioned automatic lawn mower and lawn mowing control device are implemented.

[0088] In a ninth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the method steps of the automatic lawn mower and the lawn mowing control device are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] FIG1 is a side view of a self-moving device in some embodiments.

[0090] FIG. 2 is a top view of a self-moving device in some embodiments.

[0091] FIG3 is a schematic diagram of a path taken by a mobile device during a single traversal of a work area in some embodiments.

[0092] FIG. 4 is a schematic diagram of a path of a mobile device traversing a work area N times in some embodiments.

[0093] FIG5 is a schematic diagram of indentations formed after a mobile device traverses a working area N times in some embodiments.

[0094] FIG. 6 illustrates a method for controlling a self-moving device in some embodiments.

[0095] FIG. 7 is a schematic diagram of executing step S100 in some embodiments.

[0096] FIG8 is a schematic diagram of executing step S110 in some embodiments

[0097] FIG. 9 is a schematic diagram of executing step S120 in some embodiments.

[0098] FIG. 10 is a schematic diagram of executing step S130 in some embodiments.

[0099] FIG. 11 is a schematic diagram illustrating controlling the movement of a mobile component at a certain path spacing from a mobile device in some embodiments.

[0100] FIG. 12 is a schematic diagram illustrating controlling the movement of a mobile component with another path spacing from a mobile device in some embodiments.

[0101] FIG. 13 is a schematic diagram illustrating controlling the movement of a mobile component with another path spacing from a mobile device in some embodiments.

[0102] FIG. 14 is a schematic diagram illustrating controlling the movement of a mobile component with another path spacing from a mobile device in some embodiments.

[0103] FIG. 15 is a schematic diagram illustrating stripes formed when a self-propelled device mows the lawn in a direction of travel that has a certain angle with the lawn boundary in some embodiments.

[0104] FIG16 is a schematic structural diagram of an automatic lawn mower in some embodiments.

[0105] FIG. 17 is a schematic structural diagram of a mowing control device in some embodiments.

[0106] FIG18 is a schematic structural diagram of an automatic lawn mower in some embodiments. DETAILED DESCRIPTION

[0107] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0108] The present application does not limit the specific type of the self-moving device. For example, the self-moving device may be an automatic lawn mower, an automatic lawn mower, an automatic sprinkler, etc.

[0109] The present application provides a self-moving device as shown in Figure 1. The self-moving device includes: a body 101; a grass pressing mechanism 102, which is installed on the body 101 and includes a grass pressing component located on one side of the body and a grass pressing component located on the other side of the body. When the self-moving device moves on the grass, the grass pressing mechanism 102 crushes the grass on the grass, causing the grass to fall toward the moving direction of the self-moving device, thereby generating an indentation on one side of the body and an indentation on the other side of the body, and the width of the indentation on one side of the body 101 is equal to the width of the indentation on the other side of the body 101. When the width difference of the indentations on both sides of the body 101 is less than a threshold value, the widths of the indentations on both sides are considered to be equal. In some embodiments, the threshold value is 40mm. When the width difference of the indentations on both sides of the body 101 is less than 40mm, the widths of the indentations on both sides are equivalent in visual effect, and the widths of the indentations on both sides are considered to be equal. The present application does not limit the specific structure of the grass pressing mechanism 102, as long as the grass pressing mechanism 102 can crush the grass to produce indentations on the grass.

[0110] In some embodiments, as shown in FIG2 , the self-moving device further includes a moving component 103, which is mounted on the fuselage 101 and is used to drive the fuselage 101 to move. In particular, the grass pressing mechanism 102 includes a moving component 103, and while the moving component 103 drives the fuselage 101 to move, it crushes the grass on the lawn to produce an indentation. As shown in FIG2 , the moving component 103 includes a moving wheel 1031 and a moving wheel 1032 located on one side of the fuselage 101, and the moving component 103 also includes a moving wheel 1033 and a moving wheel 1034 located on the other side of the fuselage 101. Therefore, the grass pressing component of the grass pressing mechanism 103 includes the moving wheels 1031 and 1032 located on one side of the fuselage 101, and the moving wheels 1033 and 1034 located on the other side of the fuselage 101. The moving wheels 1031 and 1033 located at the front of the fuselage are driven wheels, and the moving wheels 1032 and 1034 located at the rear of the fuselage are driving wheels. The sizes of the moving wheels 1032 and 1034 are larger than those of the moving wheels 1031 and 1033. In other embodiments (not shown), the moving wheels 1031 and 1033 located at the front of the fuselage can also be driving wheels, and the moving wheels 1032 and 1034 located at the rear of the fuselage can also be driven wheels. The sizes of the moving wheels 1032 and 1034 can also be smaller than those of the moving wheels 1031 and 1033. In 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.

[0111] In some embodiments (not shown), the moving assembly 103 may also include three moving wheels, such as two driving wheels located at the rear of the body 101 and arranged on both sides of the body 101, and a driven wheel located at the front of the body 101 and arranged in the middle of the body 101. In some embodiments (not shown), the moving assembly 103 may also include four or more moving wheels.

[0112] In some embodiments, the grass pressing mechanism 102 is completely composed of a moving component 103. The moving component 103 can not only drive the self-moving device to move, but also crush the grass on the lawn to produce indentations without setting up an additional grass pressing structure. The structure is simple and the cost is lower.

[0113] Of course, the grass pressing mechanism 102 may also be an additional structure in addition to the moving component 103, or be composed of the moving component 103 and the additional structure, which is not limited in this application.

[0114] When the self-moving device moves within the work area, the grass pressing mechanism 102 crushes the grass, causing the crushed grass in the work area to fall down along the direction of the self-moving device's travel, thereby leaving indentations on the grass. When the self-moving device moves in different directions, the crushed grass in the work area will fall down in different directions. Due to the different directions of grass falling down, the indentations produced in different directions will create a visual effect of stripes of varying shades after light reflection. When the self-moving device moves in two opposite directions within the work area, darker and lighter stripes will be left on the grass. The darker stripes correspond to indentations that appear darker after light reflection, while the lighter stripes correspond to indentations that appear lighter after light reflection.

[0115] The self-moving device further includes a controller 104 (not shown) mounted on the body 101. Controller 104 plans the movement path of the self-moving device and controls the movement of the self-moving device within a working area on the grass. The working area can be an entire grass field defined by physical or virtual boundaries, or a localized area within the grass field, and this application is not limited thereto. Controller 104 controls the self-moving device to traverse the working area on the grass field N times, where N is an odd number greater than or equal to 1.

[0116] As shown in Figure 3, in a single traversal movement, the controller 104 controls the self-moving device to move along multiple parallel paths with equal spacing. The path spacing between adjacent paths of the single traversal movement is B, and the directions of adjacent paths of the single traversal movement are opposite, so that the grass pressing mechanism 103 produces an indentation in a first direction and an indentation in a second direction on the grass, thereby forming two stripes with different shades of color in visual effects.

[0117] The controller 104 controls the self-moving device to traverse the work area N times. The self-moving device first moves from one side of the work area to the other along multiple parallel paths with a path spacing of B and opposite directions between adjacent paths within the work area. Then, it moves from the other side of the work area to the first side of the work area along multiple parallel paths with a path spacing of B and opposite directions between adjacent paths. Alternatively, it moves from one side of the work area to the other along multiple parallel paths with a path spacing of B and opposite directions between adjacent paths, and so on and so forth until the self-moving device has traversed the work area N times. Furthermore, the paths of different individual traversals in these N traversals do not overlap and are parallel to each other. After N traversals, the resulting path traversed by the self-moving device has adjacent paths with opposite directions and a path spacing of B', where B' = B / N. The controller 104 determines the value of the path spacing B so that the grass pressing mechanism 103 produces multiple indentations in a first direction and a second direction on the grass, with the indentations in the first direction and the second direction adjacent and spaced apart. The indentations in the first direction correspond to the first color stripes, and the indentations in the second direction correspond to the second color stripes, so that the first color stripes and the second color stripes are alternately arranged.

[0118] As shown in Figure 4, which is an example when N=3, the self-moving device traverses and moves three times in the working area. In a single traversal movement, the self-moving device moves along multiple parallel paths with a path spacing of B and opposite directions of adjacent paths. As shown in Figure 4, the arrow represents the moving direction of the self-moving device, the dotted line with an arrow represents the path of the first traversal movement of the self-moving device, the solid line with an arrow represents the path of the second traversal movement of the self-moving device, and the dot-dash line with an arrow represents the path of the third traversal movement of the self-moving device. The paths of different traversals in the three traversals do not overlap, but are parallel to each other. After the self-moving device traverses three times, the directions of the adjacent paths formed are opposite, and the path spacing of the adjacent paths is B', B'=B / 3. The present application does not limit the starting point and end point of each traversal movement of the self-moving device. As an example, as shown in Figure 4, the self-moving device can first traverse and move from left to right in the working area along the first traversal movement path, then traverse and move from right to left in the working area along the second traversal movement path, and then traverse and move from left to right in the working area along the third traversal movement path, so that in the path finally passed by the self-moving device, the directions of adjacent paths are opposite, and the path spacing between the adjacent paths is B', B'=B / 3.

[0119] Figure 5 shows a plurality of indentations in the first direction and indentations in the second direction formed by the grass pressing mechanism 102 after the mobile device traverses the working area three times along the traversal path shown in Figure 4. The indentations in the first direction and the indentations in the second direction are arranged alternately. The indentations in the first direction correspond to the first color stripes, and the indentations in the second direction correspond to the second color stripes, ultimately resulting in an alternating arrangement of the first color stripes and the second color stripes.

[0120] The following describes in detail how the above-mentioned alternately arranged indentations in the first direction and the indentations in the second direction are formed, using an example where N = 1. When N = 1, the self-moving device only traverses the working area once, and B' = B / N = B.

[0121] As shown in FIG6 , the controller 104 controls the mobile device to perform the following steps:

[0122] S100, controlling a self-moving device to move along a first path in a first moving direction.

[0123] In this example, the grass pressing component is entirely composed of the moving component 103 without any additional structure. As shown in Figure 7, when the self-moving device moves 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 fuselage 101 crush the grass to produce an indentation, i.e., indentation 1. At the same time, the moving wheels 1033 and 1034 on the other side of the fuselage 101 crush the grass to produce another indentation, i.e., indentation 2. In this application, the indentation produced by the self-moving device moving along the path in the first direction of travel is referred to as the indentation in the first direction. Therefore, each time the self-moving device moves along the path in the first direction of travel, the moving wheels on both sides of the fuselage 101 of the self-moving device will produce two indentations in the first direction, i.e., indentation 1 and indentation 2. The grass under the indentation in the first direction falls down along the first direction of travel.

[0124] This application does not limit the first direction of travel of the mobile device; the first direction of travel can be any direction relative to the working area of ​​the mobile device. In some embodiments, for example, if the working area of ​​the mobile device is a regular rectangular football field, the first direction of travel can be a direction parallel to or perpendicular to a 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 boundary of the football field.

[0125] S110 , controlling the self-moving device to move along a second path having a second moving direction, wherein the second path is offset from the first path by a path distance B, and the second moving direction is opposite to the first moving direction.

[0126] As shown in Figure 8 , corresponding to the movement of the self-moving device along the path in the first direction of travel, during the movement of the self-moving device along the second path in the second direction of travel (i.e., path 2), the moving wheels 1031 and 1032 on one side of the fuselage 101 crush the grass to produce an indentation, i.e., indentation 4. Simultaneously, the moving wheels 1033 and 1034 on the other side of the fuselage 101 crush the grass to produce another indentation, i.e., indentation 3. In this application, the indentations produced by the movement of the self-moving device along the path in the second direction of travel are referred to as indentations in the second direction. Therefore, each time the self-moving device moves along the path in the second direction of travel, the moving wheels on both sides of the fuselage 101 of the self-moving device produce two indentations in the second direction, i.e., indentations 3 and 4. The grass below the indentations in the second direction falls down along the second direction of travel.

[0127] Since the grass of the two first-direction indentations generated by the self-moving device 103 falls down along the first direction when the self-moving device moves in the first direction, and the grass of the two second-direction indentations generated by the self-moving device 103 falls down along the second direction when the self-moving device moves in the second direction, and the first direction of travel is opposite to the second direction of travel, the indentations in the first direction and the indentations in the second direction will form a visual effect of darker stripes and lighter stripes after reflection of light. In this application, the stripes corresponding to the indentations in the first direction are referred to as first color stripes, and the stripes corresponding to the indentations in the second direction are referred to as second color stripes. It should be noted that the difference between the so-called first color stripes and second color stripes comes from the different shades of visual effects formed by the reflection of light on the indentations generated when the mobile component 103 moves in two opposite directions. Indentation 1 and Indentation 2 correspond to the first color stripes, and Indentation 3 and Indentation 4 correspond to the second color stripes.

[0128] As shown in FIG8 , since the path under the second direction of travel is obtained by offsetting the path under the first direction of travel by the path spacing B, and the second direction of travel is opposite to the first direction of travel, the present application does not limit the first direction of travel of the self-moving device. When the first direction of travel can be any direction relative to the working area of ​​the self-moving device, the second direction of travel can also be any direction relative to the working area of ​​the self-moving device that is opposite to the first direction of travel. As shown in FIG15 , the first and second directions of travel can be directions that have a certain angle with the edge of the lawn. In some embodiments, for example, if the working area of ​​the self-moving device is a regular rectangular football field, if the first direction of travel is parallel to or perpendicular to a boundary of the football field, and the path under the first direction of travel is a straight line segment parallel to or perpendicular to a boundary of the football field, then the second direction of travel is also parallel to or perpendicular to a boundary of the football field, and the path under the second direction of travel is a straight line segment parallel to or perpendicular to a boundary of the football field.

[0129] S120 , controlling the mobile device to move along a third path having the first moving direction, wherein the third path is offset by a path distance B relative to the second path.

[0130] S130 , controlling the self-moving device to move along a fourth path having a second moving direction, wherein the fourth path is offset by a path distance B relative to the third path.

[0131] As shown in Figure 9, when step S120 is executed, the self-moving device again produces two indentations in the first direction, namely, indentations 5 and 6, forming stripes of the first color. As shown in Figure 10, when step S130 is executed, the self-moving device again produces two indentations in the second direction, namely, indentations 7 and 8, forming stripes of the second color. By repeatedly controlling the self-moving device to perform steps S100-S130 within the working area, multiple indentations in the first direction and the second direction, i.e., multiple stripes of the first color and the second color, can be generated, as shown in Figure 11.

[0132] The present application does not limit the transition path of the mobile device from the end point of path 1 to the starting point of path 2, that is, it does not limit the transition path of the mobile device from the end point of the previous path to the starting point of the next path. In some embodiments, the end point of the previous path of the mobile device or the starting point of the next path can be a point on the boundary of the work area. When the mobile device reaches the point on the boundary, it can turn and adjust the direction of travel to travel along the boundary of the work area to the starting point of the next path, that is, the above-mentioned transition path can be a certain section on the boundary of the work area. In some other embodiments, the end point of the previous path of the mobile device or the starting point of the next path can also be a point inside the work area, or a point outside the work area. The above-mentioned transition path is not limited to a certain section on the boundary of the work area. The transition path can also be located inside or outside the boundary of the work area, or cross inside and outside the boundary of the work area. In some embodiments, the mobile device traverses the grass in a bow path, and the mobile device moves from the end point of the previous path to the starting point of the next path via the short side transition path. In some other embodiments, the self-moving device traverses the grass in an U-shaped path, and the directions of adjacent U-shaped paths are opposite, that is, if the direction of the previous U-shaped path is counterclockwise, the direction of the next U-shaped path is clockwise.

[0133] In the above S100-S130, it is necessary to control the path spacing B so that among the four first-direction indentations generated by two adjacent paths of the moving component 103 in the first direction of travel, the two first-direction indentations located in the middle are adjacent, and among the four second-direction indentations generated by two adjacent paths of the moving component 103 in the second direction of travel, the two second-direction indentations located in the middle are adjacent, and the two adjacent first-direction indentations are adjacent to the two adjacent second-direction indentations. As shown in Figure 10, the four indentations generated by the self-moving device in the first direction of travel, namely Indentation 1, Indentation 2, Indentation 5, and Indentation 6, are adjacent to each other. As shown in Figure 10, the four indentations generated by the self-moving device in the second direction of travel, namely Indentation 3, Indentation 4, Indentation 7, and Indentation 8, are adjacent to each other. In this application, two adjacent paths refer to two adjacent paths without a third path between them. The areas where the body 101 of the self-mobile device travels along the two adjacent paths can be spaced a certain distance apart, or can be close together without any spacing, or can partially overlap. In this application, two adjacent indentations refer to two adjacent indentations without a third path between them. The two adjacent indentations can be spaced a certain distance apart, or can be close together without any spacing, or can partially overlap. In this way, the indentations in the first direction and the indentations in the second direction are adjacent and spaced apart.

[0134] In the above steps S100-S130, it is also necessary to control the path spacing B so that when two adjacent paths in the first direction of travel (e.g., path 1 and path 3 shown in FIG10 ) are arranged alternately with two adjacent paths in the second direction of travel (corresponding to path 2 and path 4 shown in FIG10 , i.e., paths 1-4 are arranged alternately in the first and second directions of travel), the two adjacent indentations in the first direction (e.g., indentation 2 and indentation 5) are adjacent to the two adjacent indentations in the second direction (corresponding to indentation 4 and indentation 7). That is, as shown in FIG10 , the first color stripe formed by the two adjacent indentations in the first direction (indentation 2 and indentation 5) is adjacent to the second color stripe formed by the two adjacent indentations in the second direction (indentation 4 and indentation 7). When the automatic lawn mower 100 is controlled to repeatedly execute steps S100-S130 within the working area, multiple adjacent first color stripes and second color stripes can be generated, i.e., the alternating dark and light first color stripes and second color effect shown in FIG11 , which can achieve an aesthetically pleasing effect or relieve visual fatigue. The first color stripes and the second color stripes are alternately distributed, which is not only beautiful, but also can relieve visual fatigue of people who need to stare at the lawn for a long time, such as players, referees, and spectators on the football field.

[0135] When N is an odd number greater than 1, the path traversed by the self-moving device after N traversals and movements in the working area is comparable in path spacing to the path traversed by the self-moving device when N=1 (when the path spacing B in a single traversal is expanded N times, the path spacing B' of all paths traversed is ultimately B / N), and ultimately adjacent paths are formed in opposite directions and parallel to each other. Therefore, when N is an odd number greater than 1, after the self-moving device traverses N times, the grass pressing mechanism 102 can also generate multiple indentations in the first direction and the second direction, and the indentations in the first direction and the second direction are adjacent and arranged at intervals.

[0136] In some embodiments, when the self-mobile device is an automated lawn mower, as shown in Figures 1 and 2 , the automated lawn mower further includes a cutting assembly 105 mounted on the body 101. While moving along a path in the first direction of travel or a path in the second direction of travel, the cutting assembly 105 performs a cutting task. In this manner, the automated lawn mower traverses the work area, not only forming alternately spaced dark and light stripes, but also performing the mowing task, saving human resources and economic costs.

[0137] In some embodiments, as shown in FIG2 , the center of the cutting assembly 105 is located on the longitudinal axis of the fuselage 101, and the cutting width M of the cutting assembly 105 perpendicular to the longitudinal axis and the path spacing B satisfy NM≥B, that is, M≥B / N, that is, M≥B'. As can be seen from the above, B' is the path spacing between two adjacent paths in the path experienced by the self-moving device after N traversals. When the self-moving device passes through a certain path, the longitudinal axis of the fuselage 101 and the path coincide. Therefore, if the cutting assembly 105 is located on the longitudinal axis of the fuselage 101, and M≥B', then while the self-moving device traverses two adjacent paths, it can also cut the grass between the two adjacent paths cleanly without missing any grass.

[0138] The present application does not limit the number of cutting components of the self-moving device. For example, the self-moving device can have 1, 2 or 3 cutting components. As long as the cutting centers of all its cutting components are located on the longitudinal axis of the fuselage 101 and its cutting pattern M satisfies NM≥B, then the self-moving device can cut the grass between the two adjacent paths cleanly without missing any grass while traversing the two adjacent paths.

[0139] In some embodiments, the path spacing B can be adjusted according to the task instructions received from the mobile device to adapt to the different spacing between two adjacent indentations in the multiple indentations generated by the grass pressing mechanism 102 under different tasks. Among them, the task instructions to be received by the mobile device can be pre-stored and set in the mobile device, waiting for the user to operate the corresponding button or operation panel on the mobile device to trigger the task instruction; the task instruction can also be sent to the mobile device by the user through an external device such as a mobile phone APP, a computer, etc. 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 that there is a gap between the two adjacent indentations, a spacing equal to zero indicates that the two adjacent indentations are close together without a gap, and a spacing less than zero indicates that the two adjacent indentations partially overlap.

[0140] In some embodiments, the path spacing B is one of the configuration parameters pre-configured in the self-mobile device or configured in an external device that communicates with the self-mobile device, and the path spacing B is determined based on the outer span D of the indentation on one side of the fuselage 101 and the indentation on the other side of the fuselage 101 generated by the grass pressing mechanism 102 of the self-mobile device and the width d of the single-sided indentation.

[0141] In some embodiments, when the grass-pressing component of the grass-pressing mechanism 102 is the mobile component 103 of the self-moving device, as shown in Figure 7 , the outer span D is equal to the distance between the two indentations produced by the mobile component 103 when the self-moving device moves in a certain direction of travel, and the two indentations are the distance between the two boundaries that are farthest apart in the direction of travel of the self-moving device. From another perspective, when the entire wheel width of the two outermost moving wheels of the mobile component 103 located on the body 101 can leave a noticeable indentation on the lawn, as shown in Figure 2 , the outer span D refers to the distance from the outer side of the two outermost moving wheels (such as moving wheel 1032 and moving wheel 1034) located on the body 101 of the self-moving device, from the outer side of the moving wheel 1032 to the outer side of the other moving wheel 1034. As shown in Figure 7 , the width d of a single indentation is equal to the width of a single indentation produced by the mobile component 103 when the self-moving device moves in a certain direction of travel. From one perspective, when all the widths of the moving wheels of the mobile assembly 103 on one side of the fuselage 101 can leave obvious indentations on the lawn, as shown in FIG2 , the width d of the single-sided indentation refers to the distance from the inner side of the mobile wheel 1031 to the outer side of the mobile wheel 1032, or the distance from the inner side of the mobile wheel 1033 to the outer side of the mobile wheel 1034, located on the same side of the fuselage 101 (such as the mobile wheel 1031, the mobile wheel 1032, or the mobile wheel 1033, the mobile wheel 1034). Generally, the former is equal to the latter. If some moving wheels of the self-moving device do not generate indentations when moving in the working area, or only a portion of the wheel width of some moving wheels in contact with the ground generates indentations, or the indentations are not obvious and can be ignored visually, then the outer span D is only equal to the distance between the two indentations generated by its moving component 103 when the self-moving device moves along a certain direction of travel, and the distance between the farthest boundaries of the two indentations in the direction of travel of the self-moving device, and the width d of the single-sided indentation is only equal to the width of a single indentation generated by its moving component 103 when the self-moving device moves along a certain direction of travel.

[0142] In some embodiments, the moving wheels 1031 and 1033 located at the front of the body 101 of the self-moving device are driven wheels, and the moving wheels 1032 and 1034 located at the rear of the body 101 are driving wheels. It is known from the prior art that when the mass of the driven wheels is relatively light, the indentations produced by the driven wheels moving on the lawn are not visually obvious and can be ignored. That is, the visual effect of the alternatingly distributed first color stripes and second color stripes in the above-mentioned working area mainly depends on the indentations produced by the two driving wheels at the rear of the self-moving device, namely, the moving wheels 1032 and 1034. In this case, the outer span D is equal to the distance between the two indentations produced by the moving wheels 1032 and 1034 when the self-mobile device moves in a certain direction, and the distance between the farthest boundaries of these two indentations parallel to the direction of travel of the self-mobile device. If the entire wheel width of the moving wheels 1032 and 1034 can leave a clear indentation under the lawn, the outer span D is also equal to the distance from the outer side of the moving wheel 1032 to the outer side of the other moving wheel 1034. In this case, the width d of the single indentation is equal to the width of the single indentation produced by the moving wheels 1032 and 1034 when the self-mobile device moves in a certain direction. If the entire wheel width of the moving wheels 1032 and 1034 can leave a clear indentation under the lawn, the single 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 wheels are equal).

[0143] In some embodiments, a self-propelled device includes two drive wheels located at the rear and on either side of a body 101, and a driven wheel located in the middle of the front of the body 101. When the driven wheel located in the middle of the front of the body 101 is relatively light, the indentation created by the driven wheel on the lawn is visually inconspicuous and negligible. In other words, the visual effect of the alternating first and second color stripes in the aforementioned working area is primarily due to the indentations created by the two drive wheels at the rear of the self-propelled device. In this case, the outer span D is equal to the distance between the two indentations created by the drive wheels when the self-propelled device moves in a certain direction, and the distance between the two indentations' furthest boundaries parallel to the direction of travel of the self-propelled device. If the entire wheel width of both drive wheels can leave a noticeable indentation on the lawn, the outer span D is also equal to the distance from the outer side of one drive wheel to the outer side of the other drive wheel. At this time, the wheel width on one side is equal to the width of a single indentation produced by the driving wheel of the self-moving device when it moves in a certain direction of travel; if the entire wheel width of the driving wheel can leave a clear indentation under the lawn, the wheel width on one side is also equal to the wheel width of the driving wheel (generally, the wheel widths of the two driving wheels are equal).

[0144] Generally, the width of each wheel of the self - moving device and its relative position relationship are determined during the production and manufacturing stage. That is, the outer span D and the width d of the single - side indentation can be determined during the production and manufacturing stage of the self - moving device. Therefore, before the self - moving device is sold, the path spacing B can be calculated based on the determined outer span D and the width d of the single - side indentation, and stored in the self - moving device or an external device communicating with the self - moving device in advance as one of the configuration parameters of the self - moving device. The stored path spacing B can be a fixed value or different values corresponding to the different spacings between adjacent two of the multiple indentations generated by the moving component 103. Before the self - moving device performs a specific task, the user can set and select different stripe visual effects or the stripe visual effects corresponding to different path spacings B according to the task requirements or the user's own preferences.

[0145] In some embodiments, the self - moving device can obtain the outer span D and the width d of the single - side indentation before it is sold, and then calculate the value or value range of the path spacing B according to the relationship among the path spacing B, the outer span D, and the width d of the single - side indentation. The way for the self - moving device to obtain the outer span D and the width d of the single - side indentation can be manually input by relevant personnel or the self - moving device can automatically obtain the corresponding sensor data. In some other embodiments, the self - moving device can also obtain the outer span D and the width d of the single - side indentation after it is sold, and then calculate the value or value range of the path spacing B according to the relationship among the path spacing B, the outer span D, and the width d of the single - side indentation. The way for the self - moving device to obtain the outer span D and the width d of the single - side indentation can be manually input by the user or the self - moving device can automatically obtain the corresponding sensor data. In some embodiments, the user inputs or selects a specific stripe visual effect, and the self - moving device calculates the corresponding path spacing B according to the obtained outer span D, the width d of the single - side indentation, and the stripe visual effect set by the user, and controls the self - moving device to move within the working area according to this path spacing B to obtain the stripe visual effect expected by the user.

[0146] In some embodiments, by controlling the path spacing B such that the path spacing B, the outer span D, and the width d of the single - side indentation satisfy: B = N(D - 2d), where D / 4 ≤ d < D / 3, the spacing between adjacent two of the multiple indentations generated by the grass - pressing mechanism 102 can be less than or equal to zero, which includes two cases: First, there is no gap between adjacent two indentations and they are next to each other, that is, the spacing is zero, as shown in Figure 11; Second, adjacent two indentations partially overlap, that is, the spacing is less than zero, as shown in Figure 11.

[0147] The following describes in detail how the above indentation is formed, using the example of N=1. When N=1, the self-moving device only traverses the working area once, and B'=B / N=B, that is, B'=D-2d, D / 4≤d <D / 3。

[0148] As shown in Figure 11, step S100 is executed. When the self-moving device moves along path 1 in the first travel direction, the moving component 103 generates two indentations in the first direction, namely indentation 1 and indentation 2; step S110 is executed. When the self-moving device moves along path 2 in the second travel direction, the grass pressing mechanism 102 generates two indentations in the second direction, namely indentation 3 and indentation 4, wherein the spacing between adjacent indentations 2 and 3 is zero; step S120 is executed. The grass pressing mechanism 102 generates two indentations in the first direction, namely indentation 5 and indentation 6, wherein the spacing between adjacent indentations 4 and 5 is zero, and the spacing between adjacent indentations 2 and 5 is also zero; step S130 is executed. The grass pressing mechanism 102 generates two indentations in the second direction, namely indentation 7 and indentation 8, wherein the spacing between adjacent indentations 4 and 7 is zero, and the spacing between adjacent indentations 6 and 7 is also zero. That is, in some embodiments, of the four indentations produced by two adjacent paths of the grass pressing mechanism 102 in the same direction of travel, the two indentations located in the middle are adjacent and have a spacing of zero, that is, the two indentations in the first direction produced by the two adjacent paths of the grass pressing mechanism 102 in the first direction of travel are adjacent and have a spacing of zero, and the two indentations in the second direction produced by the two adjacent paths of the grass pressing mechanism 102 in the second direction of travel are adjacent and have a spacing of zero; when the two adjacent paths in the first direction of travel are alternately arranged with the two adjacent paths in the second direction of travel, the two adjacent indentations in the first direction are adjacent to the two adjacent indentations in the second direction and have a spacing of zero. By repeatedly performing steps S100-S130, a visual effect of alternating, gapless, and uniformly spaced first and second color stripes can be obtained, and the uniform stripe width W is equal to the path spacing B'.

[0149] As shown in FIG. 12, when performing step S100 and the self - moving device moves along path 1 in the first traveling direction, the grass - pressing mechanism 102 generates two indentations in the first direction, namely indentation 1 and indentation 2; when performing step S110, the self - moving device moves along path 2 in the second traveling direction, and the grass - pressing mechanism 102 generates two indentations in the second direction, namely indentation 3 and indentation 4, where the distance between adjacent indentation 2 and indentation 3 is zero; when performing step S120, the grass - pressing mechanism 102 generates two indentations in the first direction, namely indentation 5 and indentation 6, where the distance between adjacent indentation 4 and indentation 5 is zero, and the distance R2 between adjacent indentation 2 and indentation 5 satisfies: R2 < 0mm, that is, indentation 2 and indentation 5 partially overlap; when performing step S130, the grass - pressing mechanism 102 generates two indentations in the second direction, namely indentation 7 and indentation 8, where the distance R2 between adjacent indentation 4 and indentation 7 satisfies: R2 < 0mm, and the distance between adjacent indentation 6 and indentation 7 is also zero. That is, in some embodiments, among the four indentations generated by the grass - pressing mechanism 102 on two adjacent paths in the same traveling direction, the two middle indentations are adjacent and the distance R2 satisfies: R2 < 0mm, that is, the two middle indentations partially overlap. That is, the two middle indentations in the first direction generated by the grass - pressing mechanism 102 on two adjacent paths in the first traveling direction are adjacent and the distance R2 satisfies: R2 < 0mm, and the two middle indentations in the second direction generated by the grass - pressing mechanism 102 on two adjacent paths in the second traveling direction are adjacent and the distance R2 satisfies: R2 < 0mm; when two adjacent paths in the first traveling direction and two adjacent paths in the second traveling direction are alternately arranged, two adjacent indentations in the first direction and two adjacent indentations in the second direction are adjacent and the distance therebetween is zero. Although the two middle indentations generated by two adjacent paths in the same traveling direction partially overlap, because their traveling directions are the same, the direction of grass lodging under the indentations is the same, and finally a visual effect of stripes of one color is still presented, that is, the first - color stripes or the second - color stripes. Therefore, when steps S100 - S130 are repeatedly executed, a visual effect of alternately arranged and gap - free first - color stripes and second - color stripes with uniform width can be obtained, and the uniform stripe width W is equal to the path distance B'. As shown in FIGS. 11 and 12, in these embodiments, whether the distance between two adjacent indentations among the multiple indentations generated by the grass - pressing mechanism 102 is equal to zero or less than zero, when the path distance B', the outer span D, and the width d of a single - side indentation satisfy B' = D - 2d, and the outer span D and the width d of a single - side wheel indentation satisfy D / 4 ≤ d < D / 3, controlling the self - moving device to repeatedly execute steps S100 - S130 according to the path distance B' that satisfies the above - mentioned relational expression can make the working area obtain a visual effect of alternately arranged and gap - free first - color stripes and second - color stripes with uniform width, and the uniform stripe width W is equal to the path distance B'.

[0150] As shown in Table 1, some values of the path spacing B', the outer span D, and the width d of the single-sided indentation that satisfy B' = D - 2d and D / 4 ≤ d < D / 3, and the stripe width W presented in the working area are shown. It should be noted that the values in Table 1 are not limitations on the values of the path spacing B', the outer span D, and the width d of the single-sided indentation. It is only for illustrative purposes to show that the path spacing B', the outer span D, and the width d of the single-sided indentation that satisfy B' = D - 2d and D / 4 ≤ d < D / 3 can achieve the above technical effects. All the values in Table 1 are in mm.

[0151] Table 1 B' = D - 2d, D / 4 ≤ d < D / 3

[0152] When N is an odd number greater than 1, that is, B = N(D - 2d) and D / 4 ≤ d < D / 3. Since B' = B / N, the relationship B' = D - 2d and D / 4 ≤ d < D / 3 is still satisfied. Therefore, when the self-mobile device traverses and moves N times in the working area with the path spacing B, the visual effect of the first color stripes and the second color stripes that are alternately and gaplessly distributed and have a uniform width can still be obtained in the working area, and the uniform stripe width W is equal to the path spacing B'.

[0153] It can be seen that by adopting the above scheme, the visual effect of the first color stripes and the second color stripes that are alternately and gaplessly distributed and have a uniform width can be presented in the working area. Further, since the stripe width W is equal to the path spacing B', when the grass pressing component of the grass pressing mechanism 2 is the moving component 103, when designing the outer span width and the single-sided wheel width of the self-mobile device, the designer can determine the value range of the path spacing B according to the user's requirement for the stripe width W, and then inversely deduce the value range of the outer span width and the single-sided wheel width. In addition, the user can also set and select the path spacing B according to the preferred stripe width W. Therefore, the above scheme can not only make the lawn beautiful, relieve visual fatigue, save human resources and economic costs, but also simplify the design work of the designer and facilitate the user's selection and setting.

[0154] In some embodiments, by controlling the spacing B such that the spacing B, the outer span D, and the width d of a single-sided indentation satisfy: B < N(D - 2d), d ≥ D / 4, and N(2d - 40 mm) ≤ B ≤ N(2d + 20 mm), among the multiple indentations generated by the grass pressing mechanism 102, the spacing R1 between two adjacent indentations where the grass under the indentations falls倒伏 in different traveling directions satisfies: 0 ≤ R1 ≤ 40 mm, and the spacing R2 between two adjacent indentations where the grass falls倒伏 in the same traveling direction satisfies: R2 ≤ 0 mm. Through experiments, it can be known that since the spacing R1 between two adjacent indentations where the grass falls倒伏 in different traveling directions is controlled within 0 to 40 mm and the spacing R1 is small, when the working area is large enough, such as a standard football field (90 - 120 m long and 45 - 90 m wide), this spacing is visually close to zero and can be ignored. When the path spacing B, the outer span D, and the width d of a single-sided indentation satisfy B < N(D - 2d), d ≥ D / 4, and N(2d - 40 mm) ≤ B ≤ N(2d + 20 mm), the working area can obtain first color stripes and second color stripes with an alternating small-spacing distribution (R1 = 0 - 40 mm) and uniform width. And since the spacing R2 ≤ 0 mm and the spacing R1 is controlled within 0 to 40 mm with a small gap, visually, the working area still presents first color stripes and second color stripes with an alternating gapless distribution and uniform width.

[0155] The following describes specifically how the above-mentioned indentation is formed in combination with the example of N = 1. When N = 1, the self-mobile device traverses the working area only once, and B' = B / N = B, that is, B' < D - 2d, d ≥ D / 4, and (2d - 40 mm) ≤ B' ≤ (2d + 20 mm).

[0156] The above solution will be described below with reference to FIG. 13. In the embodiment shown in FIG. 13, the path spacing B' = 180 mm, the outer span D = 400 mm, and the width d of a single-sided indentation = 100 mm, satisfying B' < D - 2d, d ≥ D / 4, and 2d - 40 mm ≤ B' ≤ 2d + 20 mm. During the movement of the self-mobile device, steps S100 - S130 are repeatedly executed. Among the multiple indentations generated by the grass pressing mechanism 102, there is a small spacing (spacing R1 = 20 mm) between two adjacent indentations formed in different traveling directions, which can be ignored visually. And there is partial overlap (R2 = -40 mm) between two adjacent indentations formed in the same traveling direction. Since the grass under these two indentations falls倒伏 in the same direction, the finally presented stripes are still of the same color. Therefore, visually, the working area still presents first color stripes and second color stripes with an alternating gapless distribution and uniform width. In this embodiment, the stripe width W = 160 mm.

[0157] As shown in Table 2, some values of the path spacing B', the outer span D, the width d of the unilateral indentation that satisfy B' < D - 2d, d ≥ D / 4, and (2d - 40mm) ≤ B' ≤ (2d + 20mm), the stripe width W presented in the working area, and the spacings R1 and R2 are provided. It should be noted that the values in Table 2 are not limitations on the values of the path spacing B', the outer span D, and the width d of the unilateral indentation. They are only for示例性 illustration that the path spacing B', the outer span D, and the width d of the unilateral indentation that satisfy B' < D - 2d, d ≥ D / 4, and (2d - 40mm) ≤ B' ≤ (2d + 20mm) can achieve the above technical effects, where all the values in Table 2 are in mm.

[0158] Table 2 B' < D - 2d, d ≥ D / 4, and (2d - 40mm) ≤ B' ≤ (2d + 20mm)

[0159] Summarized from Table 2, the following relationship holds among the path spacing B', the spacing R1, and the stripe width W: W = B' - R1. Since R1 = 0 to 40mm and can be ignored visually, W ≈ B'. When the grass pressing component of the grass pressing mechanism 102 consists of the moving component 103 of the self - moving device, when designing the outer span width of the wheels of the self - moving device and the unilateral wheel width, designers can still determine the value range of the path spacing B' according to the user's requirement for the stripe width W, and then inversely deduce the value ranges of the outer span width of the wheels and the unilateral wheel width. In addition, users can also set and select the path spacing B' according to the preferred stripe width W.

[0160] When N is an odd number greater than 1, that is, B < N(D - 2d), d ≥ D / 4, and N(2d - 40mm) ≤ B ≤ N(2d + 20mm), because B' = B / N, the relationship B' < D - 2d, d ≥ D / 4, and (2d - 40mm) ≤ B' ≤ (2d + 20mm) is still satisfied. Therefore, when the self - moving device traverses and moves N times in the working area with the path spacing B, the above technical effects can still be obtained in the working area.

[0161] In some embodiments, the path spacing B is controlled so that the path spacing B, the outer span D and the width d of the single-sided indentation satisfy: B>N(D-2d), d≥D / 4, and N(2d-40mm)≤B≤N(2d+20)mm, so that among the multiple indentations generated by the grass pressing mechanism 102, the spacing R2 between two adjacent indentations where the grass under the indentations falls along the same travel direction satisfies: 0≤R2≤40mm, and the spacing R1 between two adjacent indentations where the grass under the indentations falls along different travel directions satisfies: -40mm≤R1≤40mm. It should be noted that when -40mm≤R1≤0mm, that is, the two adjacent indentations formed by the grass pressing mechanism 102 moving in different directions have an overlapping portion, and the overlapping portion is crushed once by the grass pressing mechanism 102 along the first direction of travel and once by the grass pressing mechanism 102 along the second direction of travel. In terms of visual effect, the visual effect of the overlapping portion is the same as the visual effect of the area not crushed by the grass pressing mechanism 102. In other words, when the two adjacent indentations formed by the grass pressing mechanism 102 moving in different directions of travel have an overlapping portion, in terms of visual effect, there is a spacing between the two adjacent indentations. Experiments show that since the absolute values ​​of the spacing R1 and the spacing R2 are both controlled within 0 to 40mm, the spacing is small. When the working area is large enough, such as a standard football field (90 to 120m long and 45 to 90m wide), the spacing R1 and the spacing R2 are close to zero in visual effect and can be ignored. When the path spacing B, the outer span D, and the width d of the single-sided indentation satisfy B>N(D-2d), d≥D / 4, and N(2d-40mm)≤B≤N(2d+20)mm, the working area can obtain first color stripes and second color stripes with alternating small gaps and uniform width. Since the absolute values ​​of the spacing R1 and the spacing R2 are controlled within the range of 0 to 40mm and the gaps are small, in terms of visual effect, the working area still presents first color stripes and second color stripes with alternating gapless distribution and uniform width.

[0162] The following describes how the above indentation is formed, using the example of N = 1. When N = 1, the self-moving device traverses the working area only once, and B' = B / N = B, that is, B'>D-2d, d≥D / 4, and (2d-40mm)≤B'≤(2d+20mm).

[0163] The above scheme is explained below with reference to FIG14. In the embodiment shown in FIG14, the path spacing B'=220mm, the outer span D=400mm, and the width of the single-side indentation d=100mm, satisfying B'>D-2d, d≥D / 4, and 2d-40mm≤B'≤2d+20mm. During the movement of the self-moving device, steps S100-S130 are repeatedly performed. Among the multiple indentations generated by the grass pressing mechanism 102, there is a spacing R2 (R2=40mm) between two adjacent indentations formed in the same direction of travel, which can be ignored in terms of visual effect. Between the two adjacent indentations formed in the same direction of travel, since the grass under the two indentations has the same lodging direction, the stripes of the same color are finally presented. During the movement of the self-moving device, among the multiple indentations generated by the grass pressing mechanism 102, there is a spacing R1 (R1=20mm) between two adjacent indentations formed in different directions of travel, which can be ignored in terms of visual effect. Therefore, in terms of visual effect, the working area still presents the first color stripes and the second color stripes that are alternately distributed without gaps and have uniform width. In this embodiment, the stripe width W is 200 mm.

[0164] As shown in Table 3, some values ​​of the path spacing B', outer span D, and the width d of the single-sided indentation are satisfied, as well as the stripe width W and spacings R1 and R2 in the working area, to satisfy B'>D-2d, d≥D / 4, and 2d-40mm≤B'≤2d+20mm. It should be noted that the values ​​in Table 3 do not limit the values ​​of the path spacing B', outer span D, and the width d of the single-sided indentation. They are only for illustrative purposes to illustrate that the path spacing B', outer span D, and the width d of the single-sided indentation that satisfy B'>D-2d, d≥D / 4, and 2d-40mm≤B'≤2d+20mm can achieve the above-mentioned technical effects. All values ​​in Table 3 are in mm.

[0165] Table 3 B'>D-2d, d≥D / 4, and 2d-40mm≤B'≤2d+20mm

[0166] As summarized in Table 3, the relationship between path spacing B', spacing R1, and stripe width W satisfies the following equation: W = B' - │R1│. Since │R1│ = 0 to 40 mm, it is visually negligible, so W ≈ B'. When the grass-pressing assembly of the grass-pressing mechanism 102 is composed of the mobile assembly 103, designers can still determine the range of path spacing B' based on the user's requirements for stripe width W when designing the wheel outer span width and single-side wheel width of the self-moving device, thereby inferring the range of values ​​for the wheel outer span width and single-side wheel width. Alternatively, users can set the selected path spacing B' based on their preferred stripe width W.

[0167] When N is an odd number greater than 1, that is, B>N(D-2d), d≥D / 4, and N(2d-40mm)≤B≤N(2d+20mm), since B'=B / N, the relationship is still satisfied at this time: B'>D-2d, d≥D / 4, and (2d-40mm)≤B'≤(2d+20mm). Therefore, when the self-moving device traverses the working area N times with a path spacing B, the working area can still achieve the above-mentioned technical effects.

[0168] In some embodiments, there are no restrictions on the spacing between two adjacent indentations, nor on the uniformity of the width of the stripes of varying shades in the working area. In this case, the path spacing B, the outer span D, and the width d of the single-sided indentation may not satisfy the relationships in Tables 1, 2, and 3 above. The working area can still ultimately present a visual effect of alternating first and second color stripes. Preferably, the path spacing B is controlled to satisfy the following: 4 / 5 x N(D - 2d) ≤ B ≤ 6 / 5 x N(D - 2d).

[0169] In some embodiments, when the grass pressing assembly of the grass pressing mechanism 102 is composed of a mobile assembly 103, in order to make the stripes ultimately formed in the working area more aesthetically pleasing, as shown in FIG2 , it is also necessary to control the spacing X between the outer side of the mobile wheel 1031 and the inner side of the mobile wheel 1032 (or the outer side of the mobile wheel 1033 and the inner side of the mobile wheel 1034) located on the same side of the fuselage 101 along a direction perpendicular to the direction of travel of the mobile assembly 103. This is because if the spacing between the two is too large, a large gap will appear in the middle of each indentation produced by the movement of the mobile assembly 103 in terms of visual effect, and a large gap will affect the aesthetics of the ultimately formed stripes. Preferably, the above spacing X is controlled to be ≤40 mm, so that the gap in the middle of the indentation can be ignored in terms of visual effect.

[0170] The present application also provides a method for controlling a self-moving device, the method comprising: controlling the self-moving device to traverse N times within a working area on a lawn, where N is an odd number greater than or equal to 1. As shown in FIG3 , during a single traversal movement, the self-moving device is controlled to move along multiple parallel, equally spaced paths, the path spacing between adjacent paths of the single traversal movement being B, and the directions of adjacent paths of the single traversal movement being opposite, so that the grass pressing mechanism 102 produces an indentation in a first direction and an indentation in a second direction on the lawn. As shown in FIG4 , the paths of different single traversals during the N traversal movements of the self-moving device do not overlap and are parallel to each other. After the N traversals, the directions of adjacent paths formed by the N traversals are opposite, and the path spacing between adjacent paths formed by the N traversals is B', where B'=B / N. The path spacing B is determined so that the grass pressing mechanism 102 produces multiple indentations in the first direction and the second direction on the lawn, with the indentations in the first direction and the indentations in the second direction being adjacent and spaced apart.

[0171] FIG. 16 is a schematic structural diagram of the automatic lawn mower 100 in some embodiments. The automatic lawn mower 100 includes: a body 101; a cutting assembly 105, mounted on the body 101, for performing a cutting task. As shown in FIG. 16, the automatic lawn mower 100 further includes: a moving assembly 103, mounted on the body 101, for driving the body 101 to move. Referring to FIG. 2, it can be seen that the moving assembly 103 includes moving wheels 1031 and 1032 located on one side of the body 101, and further includes moving wheels 1033 and 1034 located on the other side of the body 101; a controller 104, for controlling the moving assembly 103 to alternately move along the paths in the first traveling direction and the paths in the second traveling direction within the working area. As shown in FIG. 11, the paths in the first traveling direction and the paths in the second traveling direction are substantially parallel and opposite in direction. Among them, the path spacing B between adjacent paths in the first traveling direction and the paths in the second traveling direction is determined according to the outer span D of the automatic lawn mower 100 and the width d of a single-sided indentation.

[0172] In some embodiments, while the moving assembly 103 moves along the paths in the first traveling direction or the paths in the second traveling direction, the controller 104 controls the cutting assembly 105 to perform a cutting task. In this way, the automatic lawn mower 100 traverses the working area, not only can form alternately distributed dark and light color stripes, but also can perform the lawn mowing task, saving human resources and economic costs.

[0173] In some embodiments, the path spacing B, the outer span D, and the width d of a single-sided indentation satisfy: 4 / 5ⅹN(D - 2d) ≤ B ≤ 6 / 5ⅹN(D - 2d). When the controller 104 controls the moving assembly 103 to move with a path spacing B within the above range, it can make the working area present a visually pleasing visual effect of alternately spaced first color stripes and second color stripes.

[0174] In some embodiments, the path spacing B, the outer span D, and the width d of a single-sided indentation satisfy: B = N(D - 2d), D / 4 ≤ d < D / 3. When the controller 104 controls the moving assembly 103 to move with a path spacing B within the above range, it can make the spacing R between adjacent two of the multiple indentations generated by the moving assembly 103 less than or equal to zero, that is, it can make the working area obtain a visual effect of alternately non-gap distributed and uniformly wide first color stripes and second color stripes, and the uniform stripe width W is equal to the path spacing B'.

[0175] In some embodiments, the path spacing B, the outer span D, and the width d of the single-sided indentation satisfy: B < N(D - 2d), d ≥ D / 4, and N(2d - 40 mm) ≤ B ≤ N(2d + 20 mm). When the controller 104 controls the moving component 103 to move at a path spacing B within the above range, among the multiple indentations generated by the moving component 103, the spacing R1 between two adjacent indentations where the grass under the indentation lies down in different traveling directions satisfies: 0 mm ≤ R1 ≤ 40 mm, and the spacing R2 between two adjacent indentations where the grass under the indentation lies down in the same traveling direction satisfies: R2 ≤ 0 mm. Thus, the working area can obtain first color stripes and second color stripes with an alternating small-spacing distribution and uniform width. And because the spacing R2 ≤ 0 mm and the spacing R1 is controlled within 0 - 40 mm, the gap is small. Visually, the working area still presents first color stripes and second color stripes with an alternating gapless distribution and uniform width, and the path offset B, the spacing R1, and the stripe width W satisfy: W = B' - R1.

[0176] In some embodiments, the path spacing B, the outer span D, and the width d of the single-sided indentation satisfy: B > N(D - 2d), d ≥ D / 4, and N(2d - 40 mm) ≤ B ≤ N(2d + 20) mm. When the controller 104 controls the moving component 103 to move at a path spacing B within the above range, among the multiple indentations generated by the moving component 103, the spacing R2 between two adjacent indentations where the grass under the indentation lies down in the same traveling direction satisfies: 0 mm ≤ R2 ≤ 40 mm, and the spacing R1 between two adjacent indentations where the grass under the indentation lies down in different traveling directions satisfies: -40 mm ≤ R1 ≤ 40 mm. Thus, the working area can obtain first color stripes and second color stripes with an alternating small-spacing distribution and uniform width. And because the absolute values of the spacing R1 and the spacing R2 are both less than or equal to 40 mm, the gap is small. Visually, the working area still presents first color stripes and second color stripes with an alternating gapless distribution and uniform width, and the path offset B, the spacing R1, and the stripe width W satisfy: W = B' - │R1│.

[0177] In some embodiments, in order to make the stripes finally formed in the working area more beautiful, as shown in Figure 2, it is also necessary to control the spacing X between the outer side of the moving wheel 1031 on the same side of the fuselage 101 of the automatic lawn mower 100 to the inner side of the moving wheel 1032 (or the outer side of the moving wheel 1033 to the inner side of the moving wheel 1034) along the direction perpendicular to the traveling direction of the moving component 103. Because if the spacing between the two 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 the too large gap will affect the beauty of the finally formed stripes. Preferably, control the above spacing X ≤ 40 mm, so that visually, the gap in the middle of the indentation can be ignored.

[0178] In some embodiments, when N=1, the controller 104 of the automatic lawn mower 100 executes steps S100-S130 as shown in Figure 6. In the above control method, the controller 104 needs to control the path spacing B (B=B') so that of the four indentations generated by the two adjacent paths of the moving component 103 in the same travel direction, the two indentations located in the middle are adjacent. As shown in Figure 10, the four indentations generated by the adjacent paths 1 and 3 of the automatic lawn mower 100 in the first travel direction, namely indentation 1, indentation 2, indentation 5, and indentation 6, are adjacent to each other. As shown in Figure 10, the four indentations generated by the adjacent paths 2 and 5 of the automatic lawn mower 100 in the second travel direction, namely indentation 3, indentation 4, indentation 7, and indentation 8, are adjacent to each other.

[0179] In the above control method, the controller 104 also needs to control the path spacing B so that when two adjacent paths in the first direction of travel (for example, path 1 and path 3 shown in Figure 10) are arranged alternately with two adjacent paths in the second direction of travel (corresponding to path 2 and path 4 shown in Figure 10, that is, path 1-path 4 are arranged alternately in the first direction of travel and the second direction of travel), the above two adjacent first indentations (for example, indentation 2 and indentation 5) are adjacent to the above two adjacent second indentations (corresponding to indentation 4 and indentation 7). That is, as shown in Figure 10, the first color stripes formed by the two adjacent first indentations (indentation 2 and indentation 5) are adjacent to the second color stripes formed by the two adjacent second indentations (indentation 4 and indentation 7).

[0180] When controller 104 controls the automatic lawn mower 100 to repeatedly execute steps S100-S130 within the working area, a plurality of adjacent first and second color stripes are generated, i.e., the alternating distribution of light and dark first and second color stripes as shown in FIG11 , thereby creating an aesthetically pleasing effect or alleviating visual fatigue. The alternating distribution of first and second color stripes not only creates an aesthetically pleasing effect but also alleviates visual fatigue for those who need to gaze at the lawn for extended periods of time, such as players, referees, and spectators on a football field.

[0181] The path spacing B is determined by calculation based on the outer side span D of the automatic lawn mower 100 and the width d of the single-side indentation.

[0182] Generally, the wheel widths and their relative positions of the automatic lawn mower 100 are determined during the manufacturing phase. Specifically, the outer side span D and the width d of the single-sided indentation can be determined during the manufacturing phase. Therefore, before the automatic lawn mower 100 is shipped, a path spacing B can be calculated based on the determined outer side span D and the width d of the single-sided indentation. This spacing B can be pre-stored within the automatic lawn mower 100 or in an external device as a configuration parameter of the automatic lawn mower 100. The stored path spacing B can be a fixed value or a different value corresponding to the different spacings between adjacent indentations generated by the moving component 103. Before the automatic lawn mower 100 performs a specific task, the user can select and set the corresponding parameters based on the task requirements or the user's own preferences, thereby enabling the control module 104 to obtain different path offsets B to control the movement of the moving component 103 and achieve the corresponding striped visual effect.

[0183] In some embodiments, the automatic lawn mower 100 may obtain the outer span D and the width d of the single-sided indentation before it leaves the factory. The value or value range of the path span B may then be calculated based on the relationship between the path span B, the outer span D, and the width d of the single-sided indentation. The automatic lawn mower 100 may obtain the outer span D and the width d of the single-sided indentation manually by a relevant person, or the automatic lawn mower 100 may automatically obtain the corresponding sensor data. In other embodiments, the automatic lawn mower 100 may obtain the outer span D and the width d of the single-sided indentation after it leaves the factory. The value or value range of the path span B may then be calculated based on the relationship between the path span B, the outer span D, and the width d of the single-sided indentation. The automatic lawn mower 100 may obtain the outer span D and the width d of the single-sided indentation manually by a user, or the automatic lawn mower 100 may automatically obtain the corresponding sensor data. In some embodiments, the user can input or select a specific stripe visual effect. The automatic lawn mower 100 calculates the corresponding path spacing B based on the obtained outer span D, the single-side indentation width d, and the stripe visual effect set by the user. The controller 104 obtains the path spacing B and controls the moving component 103 to move in the working area according to the path spacing B to obtain the stripe visual effect desired by the user.

[0184] Figure 17 is a schematic diagram of the structure of a mowing control device 200 in some embodiments. The mowing control device 200 includes a configuration parameter acquisition module 201 configured to acquire configuration parameters of the automatic mower 100 when the automatic mower 100 is within a working area; and a storage module 202 configured to store the configuration parameters of the automatic mower 100, including the path spacing B. When the automatic mower 100 is within the working area and N = 1, the mowing control device 200 is configured to obtain the path spacing B from the storage module 202 and then execute steps S100-S130.

[0185] When the mowing control device 200 controls the automatic lawn mower 100 to repeatedly execute steps S100-S130 within the working area, multiple adjacent first and second color stripes are generated, i.e., the alternating distribution of light and dark first and second color stripes as shown in FIG11 , thereby creating an aesthetically pleasing effect and alleviating visual fatigue. The alternating distribution of first and second color stripes not only creates an aesthetically pleasing effect but also alleviates visual fatigue for those who need to stare at the lawn for extended periods of time, such as players, referees, and spectators on a football field.

[0186] FIG18 is a schematic diagram of the structure of another automatic lawn mower provided in some embodiments. The automatic lawn mower 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, the method for scheduling the work plan of the self-moving device provided in the above embodiments is implemented.

[0187] Furthermore, the automatic lawn mower 300 also includes a communication interface 1003 for communication between the memory 1001 and the processor 1002. The memory 1001 is used to store computer programs that can be executed by the processor 1002. The memory 1001 may include high-speed RAM memory or non-volatile memory, such as at least one disk drive. The processor 1002 is used to implement the work plan scheduling method for the mobile device described in the above embodiment when executing the program. If the memory 1001, processor 1002, and communication interface 1003 are implemented independently, the communication interface 1003, memory 1001, and processor 1002 can be interconnected via a bus to enable communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, FIG15 shows only one thick line, but this does not mean that there is only one bus or one type of bus.

[0188] Alternatively, in a specific implementation, if the memory 1001, processor 1002, and communication interface 1003 are integrated on a single chip, the memory 1001, processor 1002, and communication interface 1003 may communicate with each other via an internal interface. The processor 1002 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement an embodiment of the present invention.

[0189] The present invention further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to implement the method steps of the automatic lawn mower 100 and the lawn mowing control device 200 as described above.

[0190] The present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps of the automatic lawn mower 100 and the lawn mowing control device 200 described above are implemented.

[0191] The present invention further provides a computer program product, comprising a computer program. When the computer program is executed by a processor, the computer program implements the method steps of the automatic lawn mower 100 and the lawn mowing control device 200 as described above.

[0192] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some embodiments" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0193] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0194] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0195] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the present invention: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0196] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0197] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0198] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limiting the present invention. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A self - moving device that can move on grass, the self - moving device comprising: A body; A grass - pressing mechanism installed on the body, the grass - pressing mechanism including a grass - pressing component on one side of the body and a grass - pressing component on the other side of the body, configured to generate an indentation on one side of the body and an indentation on the other side of the body on the grass when the self - moving device moves on the grass, and the widths of the indentation on one side of the body and the indentation on the other side of the body are equal; A controller installed on the body, configured to control the self - moving device to move within a working area on the grass; It is characterized in that the controller is configured to: Control the self - moving device to traverse and move N times within a working area on the grass, where N is an odd number greater than or equal to 1; In a single traversal movement, control the self - moving device to move along multiple parallel paths with equal spacing, the path spacing between adjacent paths of the single traversal movement is B, and the directions of adjacent paths of the single traversal movement are opposite, so that the grass - pressing mechanism generates indentations in a first direction and indentations in a second direction on the grass; The paths of different single traversal movements in the N traversal movements do not overlap and are parallel to each other; after the N traversal movements, the directions of adjacent paths formed by the N traversal movements are opposite, and the path spacing between adjacent paths formed by the N traversal movements is B', B' = B / N; Determine the path spacing B so that the grass - pressing mechanism generates multiple indentations in a first direction and indentations in a second direction on the grass, and the indentations in the first direction and the indentations in the second direction are adjacent and arranged at intervals.

2. The self-moving device according to claim 1, characterized in that: The self - moving device includes a moving component installed on the body for driving the body to move, the moving component including a moving wheel on one side of the body and a moving wheel on the other side of the body; the grass - pressing component includes the moving wheel.

3. The self-moving device according to claim 1 or 2, characterized in that: The path spacing B is determined according to the outer span D between the indentation on one side of the body and the indentation on the other side of the body and the width d of a single - side indentation; the path spacing B, the outer span D, and the width d of a single - side indentation satisfy: 4 / 5ⅹN(D - 2d)≤B≤6 / 5ⅹN(D - 2d).

4. The self-moving device according to claim 3, characterized in that: The path spacing B, the outer span D, and the width d of a single - side indentation satisfy: B = N(D - 2d), D / 4≤d<D / 3, so that the spacing between two adjacent indentations among the multiple indentations generated by the grass - pressing mechanism is less than or equal to zero.

5. The self-moving device according to claim 3, characterized in that: The path spacing B, the outer span D, and the width d of a single - side indentation satisfy: B<N(D - 2d), d≥D / 4, and N(2d - 40mm)≤B≤N( (2d + 20mm), so that for two adjacent indentations in different directions among the multiple indentations generated by the grass - pressing mechanism, the spacing R1 satisfies: 0mm≤R1≤40mm, and for two adjacent indentations in the same direction, the spacing R2 satisfies: R2≤0mm 6. The self-moving device according to claim 3, characterized in that: The path spacing B, outer span D and width d of the single-sided indentation satisfy: B>N(D-2d), d≥D / 4, and N(2d-40mm)≤B≤N(2d+20)mm, so that among the multiple indentations produced by the grass pressing mechanism, the spacing R2 between two adjacent indentations in the same direction satisfies: 0mm≤R2≤40mm, and the spacing R1 between two adjacent indentations in different directions satisfies: -40mm≤R1≤40mm.

7. The self-moving device according to any one of claims 3 to 6, characterized in that: The self-moving device is an automatic lawn mower, which also includes a cutting assembly installed on the body for cutting grass on the lawn, and the center of the cutting assembly is located on the longitudinal axis of the body; the cutting width M of the cutting assembly perpendicular to the longitudinal axis and the path spacing B satisfy: NM≥B.

8. The self-moving device according to claim 2, characterized in that: The movable wheels located on one side of the fuselage and the movable wheels located on the other side of the fuselage both include a movable wheel located at the front of the fuselage and a movable wheel located at the rear of the fuselage; the spacing X between the movable wheels located at the front of the fuselage and the movable wheels located at the rear of the fuselage on the same side of the fuselage along a direction perpendicular to the travel direction of the movable assembly satisfies: X≤40mm.

9. The self-moving device according to claim 1, characterized in that: The self-moving device traverses and moves in the working area on the grass in a bow-shaped path or a back-shaped path.

10. A method for controlling a self-propelled device, wherein the self-propelled device is movable on a grassy area, the self-propelled device comprising: body; a grass pressing mechanism mounted on the body, the grass pressing mechanism comprising a grass pressing assembly located on one side of the body and a grass pressing assembly located on the other side of the body, configured to generate an indentation located on one side of the body and an indentation located on the other side of the body on the grass when the self-propelled device moves on the grass, wherein the indentation located on one side of the body and the indentation located on the other side of the body are equal in width; a controller, mounted on the body, for controlling the movement of the self-moving device within a working area on the grass; Characterized in that the control method includes: Controlling the self-moving device to traverse and move N times within the working area on the grass, where N is an odd number greater than or equal to 1; In a single traversal movement, the self-moving device is controlled to move along a plurality of parallel paths with equal spacing, wherein the path spacing between adjacent paths of the single traversal movement is B, and the adjacent paths of the single traversal movement are in opposite directions, so that the grass pressing mechanism generates an indentation in a first direction and an indentation in a second direction on the grass; The paths of different single traversal movements in the N traversal movements do not overlap and are parallel to each other; after the N traversal movements, the directions of adjacent paths formed by the N traversal movements are opposite, and the path spacing between adjacent paths formed by the N traversal movements is B', where B'=B / N; The path spacing B is determined so that the grass pressing mechanism generates a plurality of indentations in a first direction and a plurality of indentations in a second direction on the grass, wherein the indentations in the first direction and the indentations in the second direction are adjacent to each other and arranged at intervals.

11. The method according to claim 10, characterized in that The grass pressing mechanism includes a grass pressing component located on one side of the fuselage and a grass pressing component located on the other side of the fuselage; the self-moving device includes a moving component installed on the fuselage for driving the fuselage to move, and the moving component includes a moving wheel located on one side of the fuselage and a moving wheel located on the other side of the fuselage; the grass pressing component includes the moving wheel.

12. The method according to claim 11, characterized in that: The path spacing B is determined based on the outer span D between the indentation on one side of the fuselage and the indentation on the other side of the fuselage, and the width d of the single-sided indentation; the path spacing B, the outer span D, and the width d of the single-sided indentation satisfy: 4 / 5ⅹN(D-2d)≤B≤6 / 5ⅹN(D-2d).

13. The method according to claim 12, characterized in that The self-moving device is an automatic lawn mower, which also includes a cutting assembly installed on the body for cutting grass on the lawn, and the center of the cutting assembly is located on the longitudinal axis of the body; the cutting width M of the cutting assembly perpendicular to the longitudinal axis and the path spacing B satisfy: NM≥B.

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