Automatic Working System, Self-Moving Device And Control Method Thereof

Patent metadata

Field	Value
Publication number	US-2018359916-A1
Application number	US-201816054218-A
Country	US
Kind code	A1
Filing date	Aug 3, 2018
Priority date	Feb 6, 2016
Publication date	Dec 20, 2018
Grant date	—

Abstract

The present invention relates to a self-moving device moving and working in a work area defined by a border, includes: a housing; a moving module, mounted in the housing, and driven by a drive motor to drive the self-moving device to move; a control module, controlling the self-moving device to move and work; a satellite navigation device, receiving a satellite signal; at least one position sensor, detecting a feature related to a position of the self-moving device; and a fusion processing unit comprising at least two inputs, one is the satellite signal, and the other is an output of the position sensor; the fusion processing unit performs operation on the satellite signal and the output of the position sensor, and outputs position information of the self-moving device; and the control module controls the moving module to drive the self-moving device to move based on the position information.

First claim

What is claimed is:

1 . A self-moving device, moving and working in a work area defined by a border, comprising:
a housing; a moving module, mounted in the housing, and driven by a drive motor to drive the self-moving device to move; a control module, controlling the self-moving device to move and work; a satellite navigation device, receiving a satellite signal; at least one position sensor, detecting a feature related to a position of the self-moving device; wherein the self-moving device further comprises a fusion processing unit, the fusion processing unit comprises at least two inputs, one of which is the satellite signal, and the other of which is an output of the position sensor; the fusion processing unit performs operation on the satellite signal and the output of the position sensor, and outputs position information of the self-moving device; and the control module controls the moving module to drive the self-moving device to move based on the position information of the self-moving device output by the fusion processing unit.

2 . The self-moving device according to claim 1 , wherein the position sensor comprises a motion or state sensor, which detects a motion parameter or a state parameter of the self-moving device.

3 . The self-moving device according to claim 1 , wherein the motion or state sensor comprises an inertial navigation sensor.

4 . The self-moving device according to claim 3 , wherein the inertial navigation sensor comprises at least one of an accelerator, an odometer, a gyroscope and an attitude detection sensor.

5 . The self-moving device according to claim 3 , wherein the control module judges an output error of the inertial navigation sensor, and when the error is larger than or equal to a preset value, the satellite signal is used to correct the output error of the inertial navigation sensor.

6 . The self-moving device according to claim 3 , wherein the self-moving device comprises at least two position sensors, at least one of which is independent from the inertial navigation sensor; and the control module judges an output error of the inertial navigation sensor, and when the error is larger than or equal to a preset value, the output of the position sensor independent from the inertial navigation sensor is used to correct the output error of the inertial navigation sensor.

7 . The self-moving device according to claim 3 , wherein the control module judges an output error of the inertial navigation sensor, and when the error is larger than or equal to a preset value, the moving module is controlled to drive the self-moving device to change a moving manner to correct the output error of the inertial navigation sensor.

8 . The self-moving device according to claim 7 , wherein the control module controls the moving module to drive the self-moving device to change a moving manner comprises controlling the self-moving device to stop moving.

9 . The self-moving device according to claim 2 , wherein the moving module comprises a wheel set, and the motion or state sensor comprises a wheel speed meter, which detects a rotary speed of the wheel set.

10 . The self-moving device according to claim 1 , wherein the position sensor comprises an environmental detection sensor, which detects a position relationship of the self-moving device relative to the border.

11 . The self-moving device according to claim 10 , wherein the environmental detection sensor comprises a surface recognition sensor, which detects whether the lower side or the front side in a moving direction of the self-moving device is a surface to be processed.

12 . The self-moving device according to claim 11 , wherein the surface sensor comprises at least one of a capacitance sensor, a camera and an infrared sensor.

13 . The self-moving device according to claim 10 , wherein the environmental detection sensor comprises an obstacle detection sensor, which detects whether an obstacle exists in the moving direction of the self-moving device.

14 . The self-moving device according to claim 13 , wherein the obstacle detection sensor comprises at least one of an ultrasonic sensor and a laser sensor.

15 . The self-moving device according to claim 1 , wherein the satellite navigation device is a DGPS device.

16 . The self-moving device according to claim 1 , wherein when the fusion processing unit performs operation on the position information of the self-moving device, the weight of the satellite signal and the weight of output from the position sensor are adjusted according to whether the satellite signal received by the satellite navigation device is reliable or not.

17 . The self-moving device according to claim 16 , wherein when the satellite signal received by the satellite navigation device is reliable, the weight of the output from the position sensor is zero.

18 . An automatic working system comprising the self-moving device according to claim 1 .

19 . A control method for a self-moving device, comprising the following steps:
receiving a satellite signal; detecting a feature related to a position of the self-moving device, and output a feature parameter; performing fusion processing on the satellite signal and the feature parameter, and outputting position information of the self-moving device; and controlling the self-moving device to move based on the position information of the self-moving device.

20 . The control method for a self-moving device according to claim 19 , wherein an inertial navigation sensor is provided to detect the feature related to the position of the self-moving device.

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Zhou Chang
• Tan Yiyun
• Wong Ka Tat Kelvin
• Liu Qiang

Classifications

• A01D2101/00

  Lawn-mowers · CPC title

• G01D21/02

  Measuring two or more variables by means not covered by a single other subclass · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• G01S19/47 Primary

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title

• G05D2201/0208

  Physics · mapped topic