Returning method of self-moving device, self-moving device, storage medium, and server

Patent metadata

Field	Value
Publication number	US-2019369620-A1
Application number	US-201916442428-A
Country	US
Kind code	A1
Filing date	Jun 14, 2019
Priority date	Dec 15, 2016
Publication date	Dec 5, 2019
Grant date	—

Abstract

A returning method of a self-moving device, a self-moving device are provided. In the returning method, a self-moving device autonomously moves inside a working region based on a map. Specifically, the method includes: acquiring a current position of the self-moving device in the working region; selecting a return path to a target position according to the current position; determining a reuse status of the return path, determining, based on the reuse status of the return path, whether to reselect a return path; and enabling the self-moving device to return to the target position along the selected return path.

First claim

What is claimed is:

1 . A returning method of a self-moving device, a self-moving device autonomously moving inside a working region based on a map, and comprising:
acquiring a current position of the self-moving device in the working region; selecting a return path to a target position according to the current position; and determining a reuse status of the return path, and determining, based on the reuse status of the return path, whether to reselect a return path; and enabling the self-moving device to return to the target position along the selected return path.

2 . The returning method according to claim 1 , wherein the determining a reuse status of the return path comprises:
determining a reuse length and/or reuse frequency of the return path, and if the reuse length and/or reuse frequency of the return path exceeds a preset threshold, determining to reselect a return path.

3 . The returning method according to claim 2 , wherein the currently selected return path is taken as a first return path, and when the reuse length and/or reuse frequency is greater than a preset first threshold, a second return path that does not coincide with the first return path is selected as the return path.

4 . The returning method according to claim 2 , wherein the currently selected return path is taken as a first return path, and when the reuse length and/or reuse frequency is greater than a preset second threshold, a second return path that does not intersect with the first return path is selected as the return path.

5 . The returning method according to claim 2 , wherein the determining a reuse length and/or reuse frequency of the return path comprises:
storing use information of at least a part of the return path, and determining the reuse length and/or reuse frequency of the return path according to the information.

6 . The returning method according to claim 1 , wherein the selecting a return path to a target position according to the current position comprises:
computing an optimal path between the current position and the target position, and using the optimal path as the return path.

7 . The returning method according to claim 6 , wherein the computing an optimal path between the current position and the target position comprises: computing a shortest path between the current position and the target position.

8 . The returning method according to claim 1 , further comprising:
presetting several preset return paths; and the selecting a return path to a target position according to the current position comprises: selecting one of the several preset return paths as the return path.

9 . The returning method according to claim 8 , after the acquiring a current position of the self-moving device in the working region, further comprising:
computing an optimal path between the current position and the preset return path; and the enabling the self-moving device to return to the target position along the selected return path comprises: enabling the self-moving device to move to the preset return path along the optimal path.

10 . The returning method according to claim 1 , further comprising: presetting a virtual boundary line of the working region; and
the selecting a return path to a target position according to the current position comprises: selecting a path along the virtual boundary line or near the virtual boundary line as the return path.

11 . The returning method according to claim 1 , after the enabling the self-moving device to return to the target position along the selected return path, further comprising:
enabling the self-moving device to be docked to a charging pile for charging.

12 . The returning method according to claim 11 , wherein the enabling the self-moving device to be docked to a charging pile for charging comprises:
enabling the self-moving device to adjust an attitude at the target position to dock a charging part of the self-moving device to the charging pile for charging.

13 . The returning method according to claim 11 , wherein the enabling the self-moving device to be docked to a charging pile for charging comprises:
enabling the self-moving device to reverse from the charging pile by a preset distance at the target position and completing adjustment of an attitude within the preset distance, and enabling the self-moving device to move to the charging pile with the attitude to be docked to the charging pile for charging.

14 . The returning method according to claim 12 , wherein before the self-moving device starts to work,
the self-moving device is enabled to record the target position and the attitude.

15 . A self-moving device, comprising an acquisition module and a control module, wherein
the acquisition module is configured to acquire a current position of the self-moving device in a working region; and the control module is configured to: select a return path to a target position according to the current position; determine a reuse status of the return path, and determine whether to reselect a return path based on the reuse status of the return path; and control the self-moving device to return to the target position along the selected return path.

16 . The self-moving device according to claim 15 , wherein the control module comprises a first calculation unit and a control unit, the first calculation unit is configured to calculate a reuse length and/or reuse frequency of a first return path, and if the reuse length and/or reuse frequency of the return path exceeds a preset threshold, the control unit determines to reselect a return path.

17 . The self-moving device according to claim 16 , wherein the control unit takes the currently selected return path as a first return path, and when the reuse length and/or reuse frequency is greater than a preset first threshold, the control unit selects a second return path that does not coincide with the first return path as the return path.

18 . The self-moving device according to claim 17 , wherein the control module further comprises a first storage unit, wherein the first storage unit is configured to store use information of at least a part of the return path, and the first calculation unit is further configured to determine the reuse length and/or reuse frequency of the return path according to the information.

19 . The self-moving device according to claim 15 , wherein the control module further comprises a first computation unit and a control unit, wherein the first computation unit is configured to compute an optimal path between the current position and the target position, and the control unit controls to select the optimal path as the return path.

20 . The self-moving device according to claim 16 , wherein the control module further comprises a first preset unit and a control unit, wherein
the first preset unit is configured to preset several return paths, and the control unit is configured to select one of the several preset return paths as the return path.

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Zhou Chang
• Tan Yiyun
• Shao Yong
• Liu Fangshi
• Wong Ka Tat Kelvin

Classifications

• G01C25/00

  Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) · CPC title

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G05D2201/0208

  Physics · mapped topic

• G06N20/00

  Machine learning · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title