# US 2026/0086571 A1 · Methods, control systems and lawn mowers to mow a predefined area > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0086571 A1 - Document ID: US20260086571A1 - Status: Published application - Kind: A1 - Application number: 19/408,441 - Filed: 2025-12-04 - Published: 2026-03-26 - Earliest claimed: 2023-06-08 - Assignees: Greenworks (Jiangsu) Co., Ltd. - Applicants: Greenworks (Jiangsu) Co., Ltd. - Inventors: Andre Lundkvist; Lucas Magnusson - Web page: https://patentgrep.com/patent/US20260086571A1 ## CPC - G05D 1/648: Performing a task within a working area or space, e.g. cleaning - G05D 1/6484: {by taking into account parameters or characteristics of the working area or space, e.g. size or shape} - A01D 34/008: {for automated or remotely controlled operation} - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/248: generated by satellites, e.g. GPS - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/23: {Gardens or lawns} - G05D 2109/10: Land vehicles - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01D: HARVESTING; MOWING ## Abstract A method performed by a control system for controlling a lawn mower to mow a predefined area, the method comprises: instructing the lawn mower to move substantially straight forward in a first direction for a first distance; instructing the lawn mower to turn a first angle in relation to the first direction); instructing the lawn mower to move substantially straight forward in a second direction for a second distance; instructing the lawn mower to turn a second angle in relation to the second direction; instructing the lawn mower to move substantially straight forward in a third direction for the first distance; instructing the lawn mower to turn a third angle in relation to the third direction; instructing the lawn mower to move substantially straight forward in a fourth direction for a third distance; instructing the lawn mower to turn a fourth angle in relation to the fourth direction. ## Claims ### Claim 1 A method performed by a control system (120) for controlling a lawn mower (110) to mow a predefined area (200), the mowing width of the lawn mower (110) is X1, the method comprises: instructing (302) the lawn mower (110) to move substantially straight forward in a first direction (610) for a first distance (510); instructing (304) the lawn mower (110) to turn a first angle (560) in relation to the first direction (610); instructing (306) the lawn mower (110) to move substantially straight forward in a second direction (620) for a second distance (520), such that the lawn mower (110) moves through N*X1 in the direction perpendicular to the first direction (610); instructing (308) the lawn mower (110) to turn a second angle (570) in relation to the second direction (620), such that the first angle (560) and the second angle (570) in total substantially equals to 180°; instructing (310) the lawn mower (110) to move substantially straight forward in a third direction (630) for the first distance (510); instructing (312) the lawn mower (110) to turn a third angle (580) in relation to the third direction (630); instructing (314) the lawn mower (110) to move substantially straight forward in a fourth direction (640) for a third distance (530), such that the lawn mower (110) moves through (N−1)*X1 plus an offset in the direction perpendicular to the first direction (610), the offset is less than X1; instructing (316) the lawn mower (110) to turn a fourth angle (590) in relation to the fourth direction (640), so that the lawn mower (110) is in the first direction (610) after turning. ### Claim 2 (depends on 1) The method as claimed in claim 1, the method further comprises: repeating the steps in claim 1 after the lawn mower (110) turning the fourth angle (590). ### Claim 3 (depends on 1) The method as claimed in claim 1, wherein the N is predefined or determined on the fly. ### Claim 4 (depends on 1) The method as claimed in claim 1, wherein the offset is predefined or determined on the fly. ### Claim 5 (depends on 1) The method as claimed in claim 1, wherein the first distance (510) is predefined or determined on the fly based on the dimension of the predefined area (200). ### Claim 6 (depends on 1) The method as claimed in claim 1, wherein the first angle (560), the second angle (570), the third angle (580) and/or the fourth angle (590) are predefined or determined on the fly based on the dimension of the predefined area (200), the first angle (560), the second angle (570), the third angle (580) and/or the fourth angle (590) are within the range between 1° and 180° respectively. ### Claim 7 (depends on 1) The method as claimed in claim 1, wherein, when instructing the lawn mower (110) to turn, instructing the lawn mower (100) to move along a curve (700) when turning. ### Claim 8 (depends on 1) The method as claimed in claim 1, wherein the method further comprises: determining that the lawn mower (110) is to move over a boundary of the predefined area (200), decreasing the N so that the lawn mower (110) is moving within boundaries of the predefined area (200). ### Claim 9 (depends on 1) The method as claimed in claim 1, wherein the lawn mower (110) is operative for mowing the grass on different heights when moving in different directions. ### Claim 10 (depends on 1) The method as claimed in claim 1, the method further comprises: receiving position correction information sent from an external device (300); instructing the lawn mower (110) to correct its position according to the received position correction information. ### Claim 11 A control system (120) for controlling a lawn mower (110) to mow a predefined area (200), the mowing width of the lawn mower (110) is X1, the control system (120) comprises a processing circuitry (903) and a memory (904), the memory (904) containing instructions executable by the processing circuitry (903), whereby the control system (120) is operative for: instructing the lawn mower (110) to move substantially straight forward in a first direction (610) for a first distance (510); instructing the lawn mower (110) to turn a first angle (560) in relation to the first direction (610); instructing the lawn mower (110) to move substantially straight forward in a second direction (620) for a second distance (520), such that the lawn mower (110) moves through N*X1 in the direction perpendicular to the first direction (610); instructing the lawn mower (110) to turn a second angle (570) in relation to the second direction (620), such that the first angle (560) and the second angle (570) in total substantially equals to 180°; instructing the lawn mower (110) to move substantially straight forward in a third direction (630) for the first distance (510); instructing the lawn mower (110) to turn a third angle (580) in relation to the third direction (630); instructing the lawn mower (110) to move substantially straight forward in a fourth direction (640) for a third distance (530), such that the lawn mower (110) moves through (N−1)*X1 plus an offset in the direction perpendicular to the first direction (610), the offset is less than X1; instructing the lawn mower (110) to turn a fourth angle (590) in relation to the fourth direction (640), so that the lawn mower (110) is in the first direction (610) after turning. ### Claim 12 (depends on 11) The control system (120) as claimed in claim 11, the control system (120) is further operative for repeating the operations in claim 11 after the lawn mower (110) turning the fourth angle (590). ### Claim 13 (depends on 11) A lawn mower (110) comprises the control system (120) claimed in claim 11. ### Claim 14 (depends on 1) A computer program (905) comprising instructions, which, when executed by a processing circuitry (903) of a control system (120), controlling a lawn mower (110) to mow a predefined area (200), the mowing width of the lawn mower (110) is X1, causes the control system (120) to perform methods as claimed in claim 1. ### Claim 15 (depends on 14) A carrier containing the computer program (905) according to claim 14, wherein the carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.