Self-moving device, method for providing alarm about positioning fault in same, self-moving device, and automatic working system

Patent metadata

Field	Value
Publication number	US-2019369640-A1
Application number	US-201916442442-A
Country	US
Kind code	A1
Filing date	Jun 14, 2019
Priority date	Dec 15, 2016
Publication date	Dec 5, 2019
Grant date	—

Abstract

The invention relates to a method for providing an alarm about a positioning fault in a self-moving device. A self-moving device is configured to autonomously move, based on positioning of the self-moving device, inside a working region defined on a map. The method includes: receiving positioning data from a satellite positioning system to locate the self-moving device; detecting whether a positioning fault occurs in the self-moving device; and in response to a detected positioning fault that occurs in the self-moving device, providing an alarm about the positioning fault.

First claim

What is claimed is:

1 . A state detection method for an automatic working system, an automatic working system including: a mobile station, configured to determine position information of one or more positions inside or outside a working region of a self-moving device, the mobile station including a first antenna configured to receive a satellite signal and a first indication module, wherein the state detection method including:
determining, by the mobile station, quality of a signal received by the first antenna; and determining, by the mobile station, an indication manner of the first indication module according to the quality of the signal received by the first antenna.

2 . The state detection method for an automatic working system according to claim 1 , wherein the determining, by the mobile station, quality of a signal received by the first antenna includes:
determining, by the mobile station according to a parameter of a satellite signal received by the first antenna, the quality of the signal received by the first antenna, where the parameter of the satellite signal includes a quantity of satellite signals and a signal-to-noise ratio of each satellite signal.

3 . The state detection method for an automatic working system according to claim 1 , wherein the mobile station further includes an attitude sensor disposed on the first antenna; and the state detection method further includes:
when the mobile station determines, according to an output of the attitude sensor, that a current attitude of the first antenna is abnormal, indicating, by using the first indication module, that the attitude of the first antenna is abnormal.

4 . The state detection method for an automatic working system according to claim 1 , wherein the mobile station further includes a first contact sensor disposed on a receiving surface of the first antenna; and the state detection method further includes:
when the mobile station determines, according to an output value of the first contact sensor, that the first antenna is blocked, indicating, by using the first indication module, that the first antenna is blocked.

5 . The state detection method for an automatic working system according to claim 1 , wherein the mobile station further includes a handle portion configured to assist a user in keeping the first antenna in a correct attitude; and the state detection method further includes:
indicating, by the mobile station by using the first indication module, whether an attitude of holding the handle portion by the user is correct.

6 . The state detection method for an automatic working system according to claim 5 , wherein the mobile station further includes a second contact sensor disposed at the handle portion; and before the indicating whether an attitude of holding the handle portion by the user is correct, the method further includes:
determining, by the mobile station according to an output value of the second contact sensor, whether the attitude of holding the handle portion by the user is correct.

7 . The state detection method for an automatic working system according to claim 1 , wherein the mobile station further includes an energy source module; and the state detection method further includes:
indicating, by the mobile station by using the first indication module, remaining power of the energy source module.

8 . The state detection method for an automatic working system according to claim 1 , wherein the determining an indication manner of the first indication module includes:
determining a display manner of the first indication module; determining a vibration manner of the first indication module; determining voice content of the first indication module; or determining content sent to a terminal by using the first indication module.

9 . The state detection method for an automatic working system according to claim 1 , wherein the automatic working system further includes: a charging station, and a base station configured to send differential information to the mobile station to enable the mobile station to perform positioning according to the differential information; and the state detection method further includes:
when the mobile station determines that the quality of the signal on the first antenna satisfies a preset condition at any position, determining that the any position is suitable for fixing the charging station or the base station.

10 . The state detection method for an automatic working system according to claim 1 , wherein the mobile station is configured to create a map according to the satellite signal received by the first antenna; and after the determining, by the mobile station, quality of a signal received by the first antenna, the method further includes:
marking, by the mobile station according to the quality of the signal received by the first antenna at any position, map information of the any position determined by the mobile station.

11 . The state detection method for an automatic working system according to claim 1 , wherein the mobile station further includes a communications module; and the state detection method further includes:
according to a state of a signal acquired by the communications module at a current position and/or time, determining, by the mobile station, a working state of the communications module at the current position, or, determining a working state of a peer end in communication connection with the mobile station by using the communications module.

12 . The state detection method for an automatic working system according to claim 11 , wherein the mobile station is connected to a terminal by using the communications module; and the state detection method further includes:
sending the working state of the mobile station at the current position to the terminal.

13 . The state detection method for an automatic working system according to claim 11 , wherein the automatic working system further includes a base station configured to send differential information to the mobile station to enable the mobile station to perform positioning according to the differential information; and the state detection method further includes:
receiving, by the mobile station, a satellite signal by using the first antenna; acquiring, by the mobile station, a differential signal sent by the base station; and determining, by the mobile station according to the state of the mobile station, the differential signal, and the satellite signal, that the base station is moved, indicating, by using the first indication module, that the base station is moved.

14 . The state detection method for an automatic working system according to claim 13 , wherein the mobile station further includes a first displacement sensor; and the determining that the base station is moved includes:
calculating, by the mobile station, a calculated position of the mobile station at a current moment according to the differential signal and the satellite signal; determining, by the mobile station according to an output value of the first displacement sensor, whether the mobile station is in a stationary state; and if the mobile station is in a stationary state, determining whether the calculated position at the current moment is consistent with a calculated position at a previous moment; or if the mobile station is not in a stationary state, determining that the base station is moved.

15 . The state detection method for an automatic working system according to claim 1 , wherein the automatic working system further includes a base station configured to send differential information to

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming
• Shao Yong
• Zhou Chang
• Tan Yiyun
• Liu Fangshi
• Jiao Shiping

Classifications

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01S19/485

  whereby the further system is an optical system or imaging system · CPC title

• G01S19/48

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G01S19/396

  Determining accuracy or reliability of position or pseudorange measurements · CPC title

• G01S19/35

  Constructional details or hardware or software details of the signal processing chain · CPC title