Map building method, self-moving device, and automatic working system

Patent metadata

Field	Value
Publication number	US-12153440-B2
Application number	US-202017764888-A
Country	US
Kind code	B2
Filing date	Sep 29, 2020
Priority date	Sep 29, 2019
Publication date	Nov 26, 2024
Grant date	Nov 26, 2024

Abstract

A map establishing method includes: generating a working region map and an initial shadow section, the working region map being a map of a boundary, and the initial shadow section being a part of the boundary on which a positioning signal does not meet a quality requirement; generating an initial shadow region according to the initial shadow section; exploring the initial shadow region, and collecting positioning signal quality data and positioning coordinates during exploration; and generating a corrected shadow region according to the positioning signal quality data and the positioning coordinates. A self-moving device includes: a controller; a map generator; and an exploration assembly and a shadow region corrector. An automatic working system is provided with the self-moving device. An actual range of a shadow region is first explored, and then a corrected shadow region is obtained, so that a working region map can be updated.

First claim

What is claimed is:

1. A map establishing method, comprising:
generating a working region map and an initial shadow section, the working region map being a map of a boundary of a working region, the initial shadow section being a part of the boundary of the working region on which a positioning signal does not meet a quality requirement, and a positioning of the initial shadow section obtained based on the positioning signal being inaccurate;
generating an initial shadow region according to the initial shadow section, wherein the initial shadow region expands inwardly from the initial shadow section into the working region;
exploring the initial shadow region, and collecting positioning signal quality data and positioning coordinates during exploration; and
generating a corrected shadow region according to the positioning signal quality data and the positioning coordinates.

2. The map establishing method according to claim 1 , further comprising:
determining whether a length value of the initial shadow section meets a preset condition, wherein generating the initial shadow region according to the initial shadow section comprises:
if the length value of the initial shadow section meets the preset condition, generating the initial shadow region according to the initial shadow section.

3. The map establishing method according to claim 2 , wherein the preset condition includes the length value of the initial shadow section being less than or equal to 60 times a moving speed value of a self-moving device working in a working region.

4. The map establishing method according to claim 1 , wherein exploring the initial shadow region comprises:
controlling a self-moving device to move toward the initial shadow region in a working region;
obtaining a positioning signal quality parameter during movement of the self-moving device; and
determining that the self-moving device is located in a shadow region in response to determining that the obtained positioning signal quality parameter does not meet a set positioning signal quality threshold.

5. The map establishing method according to claim 4 , further comprising: controlling the self-moving device to move toward the initial shadow region multiple times from the working region in different directions.

6. The map establishing method according to claim 5 , wherein before controlling the self-moving device to move toward the initial shadow region in the working region, the method further comprises:
generating an exploration starting position according to a position of the initial shadow region, wherein the self-moving device performs the exploration from the exploration starting position.

7. The map establishing method according to claim 5 , wherein generating the corrected shadow region according to the positioning signal quality data and the positioning coordinates comprises:
obtaining a coordinate point in which a corresponding positioning signal quality parameter does not meet the set positioning signal quality threshold during movement of the self-moving device in each direction;
recognizing a boundary point of the corrected shadow region in each direction according to the coordinate point; and
connecting boundary points determined in all directions, to form a boundary of the corrected shadow region.

8. The map establishing method according to claim 1 , wherein exploring the initial shadow region comprises:
performing path planning according to the working region map;
making a self-moving device to move and/or work according to a planned path;
obtaining a positioning signal quality parameter during movement of the self-moving device; and
determining that the self-moving device is located in a shadow region in response to determining that the obtained positioning signal quality parameter does not meet a set positioning signal quality threshold.

9. The map establishing method according to claim 8 , wherein generating the corrected shadow region according to the positioning signal quality data and the positioning coordinates comprises:
obtaining a coordinate point in which a corresponding positioning signal quality parameter does not meet the set positioning signal quality threshold when the self-moving device moves according to the planned path;
recognizing a boundary point of the corrected shadow region according to the coordinate point; and
connecting boundary points determined in the planned path, to form a boundary of the corrected shadow region.

10. The map establishing method according to claim 1 , wherein after generating the corrected shadow region according to the positioning signal quality data and the positioning coordinates, the method further comprises:
recognizing a feature of the corrected shadow region;
determining an entering direction in which a self-moving device enters the corrected shadow region according to the feature of the corrected shadow region; and
making the self-moving device to enter the corrected shadow region in the entering direction to perform working surface processing.

11. The map establishing method according to claim 10 , wherein the corrected shadow region comprises a first edge extending in an extending direction of a working region boundary, and the entering direction is a direction within a predetermined angle from a normal to the first edge.

12. The map establishing method according to claim 10 , wherein the corrected shadow region comprises a first edge extending in an extending direction of a working region boundary, and the entering direction is within a predetermined angle from a direction parallel to the first edge.

13. The map establishing method according to claim 10 , wherein the entering direction is within a predetermined angle from a direction perpendicular to a longitudinal long-axis of the corrected shadow region.

14. A self-moving device, comprising:
a housing;
a mover, configured to drive the housing to move;
a task executor, configured to perform a working task;
a controller, electrically connected to the mover and the task executor, and configured to control the mover to drive the self-moving device to move and control the task executor to perform the working task;
a map generator, configured to generate a working region map and an initial shadow section, and generate an initial shadow region according to the initial shadow section, wherein the initial shadow section being a part of a boundary of the working region map, and a positioning of the initial shadow section obtained based on a positioning signal is inaccurate, and wherein the initial shadow region expands inwardly from the initial shadow section into the working region;
an exploration assembly, configured to explore the initial shadow region within a working region range and collect positioning signal quality data and positioning coordinates during exploration, to generate a corrected shadow region; and
a shadow region corrector, configured to generate the corrected shadow region according to the positioning signal quality data and the positioning coordinates.

15. The self-moving device according to claim 14 , wherein the controller controls the self-moving device to move toward the initial shadow region multiple times from a working region in different directions for exploration.

16. The self-moving device according to claim 14 , further comprising:
an exploration starting position determining assembly, configured to generate an exploration starting position according to a position of the initial shadow region, wherein the controller is further configured to control the self-moving device to perform

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming

Classifications

• G05D1/246 Primary

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/248

  generated by satellites, e.g. GPS · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• A01D34/008

  for automated or remotely controlled operation · CPC title